Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

Rufus Fraanje, René Beltman, Fidelis Theinert, Michiel van Osch, Teade Punter, John Bolte

OAI: oai:igi-global.com:249249 • DOI: 10.4018/IJAIML.2020010101

The estimation of the pose of a differential drive mobile robot from noisy odometer, compass, and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment.

Computer Science and Information Technology Artificial Intelligence Machine Learning