A Robust Approach for Improving the Accuracy of IMU based Indoor Mobile Robot Localization

Indoor localization is a vital part of autonomous robots. Obtaining accurate indoor localization is difficult in challenging indoor environments where external infrastructures are unreliable and maps keep changing. In such cases the robot should be able to localize using their on board sensors. IMU sensors are most suitable due to their cost effectiveness. We propose a novel approach that aims to improve the accuracy of IMU based robotic localization by analyzing the performance of gyroscope and encoders under different scenarios, and integrating them by exploiting their advantages. In addition the angle computed by robots to avoid obstacles as they navigate, is used as an additional source of orientation estimate and appropriately integrated using a complementary filter. Our experiments that evaluated the robot over different trajectories demonstrated that our approach improves the accuracy of localization over applicable existing techniques.

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