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27 April 2023 Research on mobile robot localization algorithm based on multi-sensor fusion
Mingming Zhang, Konstantin Avenirovich Neusypin
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Proceedings Volume 12637, International Conference on Digital Transformation: Informatics, Economics, and Education (DTIEE2023); 1263702 (2023) https://doi.org/10.1117/12.2680646
Event: International Conference on Digital Transformation: Informatics, Economics, and Education (DTIEE2023), 2023, Fergana, Uzbekistan
Abstract
For the purpose of acquiring precise and trustworthy positioning data for mobile robots during autonomous navigation, we propose a multi-sensor data fusion technique based on the UKF algorithm. The technique combines visual, inertial, and GNSS localization data in a nonlinear optimization framework. In particular, we combine the VI-SLAM localization findings with those from inertial and GNSS fusion in the nonlinear optimization module to eventually acquire precise and trustworthy localization information, accomplishing the high precision localization of the robot in complicated situations. The findings demonstrate that the approach may successfully get around the drawbacks of different sensors and enhance their strengths in order to provide precise and trustworthy location data.
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Mingming Zhang and Konstantin Avenirovich Neusypin "Research on mobile robot localization algorithm based on multi-sensor fusion", Proc. SPIE 12637, International Conference on Digital Transformation: Informatics, Economics, and Education (DTIEE2023), 1263702 (27 April 2023); https://doi.org/10.1117/12.2680646
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KEYWORDS
Satellite navigation systems
Mobile robots
Sensors
Motion models
Kinematics
Navigation systems
Tunable filters
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