eprintid: 3764
rev_number: 13
eprint_status: archive
userid: 418
dir: disk0/00/00/37/64
datestamp: 2019-12-12 11:02:56
lastmod: 2019-12-12 11:03:42
status_changed: 2019-12-12 11:02:56
type: conference_item
metadata_visibility: show
creators_name: Tran, Huu Quoc Dong
creators_name: Chu, Duc Trinh
creators_name: Bui, Thanh Tung
creators_name: Nguyen, Thi Thanh Van
creators_name: Phan, Hoang Anh
creators_name: Nguyen, Dinh Tuan
creators_name: Bui, Duy Nam
creators_id: dongtran.robotics@gmail.com
creators_id: trinhcd@vnu.edu.vn
creators_id: tungbt@vnu.edu.vn
creators_id: vannttuet@gmail.com
creators_id: anhph.robotic@gmail.com
creators_id: ndinhtuan15@vnu.edu.vn
creators_id: duynam.robotics@gmail.com
title: Employing Extended Kalman Filter with Indoor Positioning System for Robot Localization Application
ispublished: pub
subjects: ElectronicsandComputerEngineering
subjects: IT
subjects: Mechanics
divisions: fac_fet
abstract: 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.
date: 2019-10-11
date_type: published
contact_email: trinhcd@vnu.edu.vn
full_text_status: public
pres_type: paper
event_title: The 5 th International Conference on Engineering Mechanics and Automation (ICEMA 5) Ha Noi
event_location: Ha Noi
event_dates: 11-12, October, 2019
event_type: conference
refereed: FALSE
citation:   Tran, Huu Quoc Dong and Chu, Duc Trinh and Bui, Thanh Tung and Nguyen, Thi Thanh Van and Phan, Hoang Anh and Nguyen, Dinh Tuan and Bui, Duy Nam  (2019) Employing Extended Kalman Filter with Indoor Positioning System for Robot Localization Application.  In: The 5 th International Conference on Engineering Mechanics and Automation (ICEMA 5) Ha Noi, 11-12, October, 2019, Ha Noi.     
document_url: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3764/1/579945c8-ICEMA-5%20Paper_Kalman%20Filter%20with%20Indoor%20Positioning%20System%20for%20Robot%20Localization.pdf