Implementation of Sensor Fusion for a Mobile Robot Application

Abstract

The proposed work focuses on sensor fusion technology for improving the navigation path in the mobile robot application. The objective here is to discuss the various issues involved, needs, and advantages of the sensor fusion process. State of the art, sensor fusion based algorithms is discussed. The factors, namely, choice of sensor and the algorithm for a mobile robot and implementation methodologies, are presented. The sensors used in the sensor fusion process are an Inertial Measurement Unit(IMU) and Global Positioning System(GPS). The relevance of selecting the Kalman filter-based sensor fusion process and the implementation steps using the different types of sensors is explained with the flow chart and the algorithmic steps. The systematic analysis of the sensor fusion process is carried out using error estimates of position and orientation achieved for the mobile robot application.