Localization of iRobot create using inertial measuring unit

Abstract

This article deals with the localization of an iRobot Create robotic platform using an inertial measurement unit (IMU). The used IMU consists of a gyroscope and accelerometer. The implementation of the IMU in the robotic platform allows the use of complex localization methods. We compare results of experimental measurement using odometry, gyroscope, accelerometer and their combination. In order to fuse sensor signals, a Complementary and a Kalman filter are designed and tuned. Various methods are used to verify results, such as UMBmark and rotation test. The combination of the IMU and mentioned filters provides better results of the localization in comparison with the odometry.