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.
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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.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Subjects: | Electronics and Communications > Electronics and Computer Engineering Information Technology (IT) Engineering Mechanics |
| Divisions: | Faculty of Electronics and Telecommunications (FET) |
| Depositing User: | Nguy�n �ình Tuân |
| Date Deposited: | 12 Dec 2019 11:02 |
| Last Modified: | 12 Dec 2019 11:03 |
| URI: | http://eprints.uet.vnu.edu.vn/eprints/id/eprint/3764 |
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