%0 Conference Paper
%A Tran, Huu Quoc Dong
%A Chu, Duc Trinh
%A Bui, Thanh Tung
%A Nguyen, Thi Thanh Van
%A Phan, Hoang Anh
%A Nguyen, Dinh Tuan
%A Bui, Duy Nam
%B The 5 th International Conference on Engineering Mechanics and Automation (ICEMA 5) Ha Noi
%C Ha Noi
%D 2019
%F SisLab:3764
%T Employing Extended Kalman Filter with Indoor Positioning System for Robot Localization Application
%U https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3764/
%X IPS (Indoor Positioning System) is used to localize the robot position in a narrow environment. However, IPS signal is not accurate in some cases, the IPS signal transmission will be obstructed by people the public museums, for example. The combination with other sensors will reduce the poor signal from IPS and noise in the environment with many obstacles. The Extended Kalman Filter (EKF) have been widely used for mobile robot localization system and gained certain results. In this paper, EKF is embedded to Central Processing Unit with Robot Operating System on “UET-FuSo”  robot to fuse IPS signal with encoder and IMU sensor for the determination of position and orientation robot. The obtained results show the effect of the proposed method when the robot localization is more stable and accurate than using only IPS signal. This localization will be applied for mapping and navigation of mobile robot in exhibition guidance robot.