An EKF-based multiple data fusion for mobile robot indoor localization. Issue 3 (28th May 2021)

• Record Type: Journal Article
• Authors: Zhou, Guangbing; Luo, Jing; Xu, Shugong; Zhang, Shunqing; Meng, Shige; Xiang, Kui
• Is Part Of: Assembly automation. Volume 41:Issue 3(2021)
• Page Start: 274
• Page End: 282
• Publication Date: 2021-05-28
• Subjects: Indoor localization -- EKF-based multiple sensors fusion -- SLAM -- Mobile robot; Automation -- Periodicals; Automatic machinery -- Periodicals; Assembly-line methods -- Periodicals; Industrial engineering -- Periodicals; 670.42705
• DOI: 10.1108/AA-12-2020-0199
• Languages: English
• ISSNs: 0144-5154

Abstract

Abstract : Purpose: Indoor localization is a key tool for robot navigation in indoor environments. Traditionally, robot navigation depends on one sensor to perform autonomous localization. This paper aims to enhance the navigation performance of mobile robots, a multiple data fusion (MDF) method is proposed for indoor environments. Design/methodology/approach: Here, multiple sensor data i.e. collected information of inertial measurement unit, odometer and laser radar, are used. Then, an extended Kalman filter (EKF) is used to incorporate these multiple data and the mobile robot can perform autonomous localization according to the proposed EKF-based MDF method in complex indoor environments. Findings: The proposed method has experimentally been verified in the different indoor environments, i.e. office, passageway and exhibition hall. Experimental results show that the EKF-based MDF method can achieve the best localization performance and robustness in the process of navigation. Originality/value: Indoor localization precision is mostly related to the collected data from multiple sensors. The proposed method can incorporate these collected data reasonably and can guide the mobile robot to perform autonomous navigation (AN) in indoor environments. Therefore, the output of this paper would be used for AN in complex and unknown indoor environments.