Mobile Robot Localization via Indoor Positioning System and Odometry Fusion

Abstract

Accurate localization is crucial for effectively operating mobile robots in indoor environments. This paper presents a comprehensive approach to mobile robot localization by integrating an ultrasound-based indoor positioning system (IPS) with wheel odometry data via sensor fusion techniques. The fusion methodology leverages the strengths of both IPS and wheel odometry, compensating for the individual limitations of each method. The Extended Kalman Filter (EKF) fusion method combines the data from the IPS sensors and the robot's wheel odometry, providing a robust and reliable localization solution. Extensive experiments in a controlled indoor environment reveal that the fusion-based localization system significantly enhances accuracy and precision compared to standalone systems. The results demonstrate significant improvements in trajectory tracking, with the EKF-based approach reducing errors associated with wheel slippage and sensor noise.