An Evaluation of the Fusion of Relative Positioning Sensors in the Accuracy of Land Mobile Robot´s Localization Systems

Authors

  • Henrique Santos Senai-CIMATEC, Av. Orlando Gomes, 1845, Piatã, Salvador - BA, 41650-010, Brazil.
  • Artur Kronbauer Salvador University (Unifacs), Av. Tancredo Neves, 2131, Salvador-BA, 41820-021, Brazil,Bahia State University (UNEB), Rua Silveira Martins, 2555, Salvador-BA, 41150-000, Brazil.
  • Jorge Campos Salvador University (Unifacs), Av. Tancredo Neves, 2131, Salvador-BA, 41820-021, Brazil,Bahia State University (UNEB), Rua Silveira Martins, 2555, Salvador-BA, 41150-000, Brazil.

Keywords:

Robotic Navigation Systems, Relative Positioning Sensor, Sensor fusion, Odometry, Robot ego-motion

Abstract

The precise location of a robot is a fundamental challenge and one of the most important tasks for robot´s navigation systems. For autonomous navigation, the robot must be aware of its pose and the map of the environment so that it can set the path it must follow to perform a task. Most terrestrial robots use an odometry system based on the movement of the wheels to keep track of their location. Wheel odometry has high sensitivity to the kind of pavement, which leads to an inaccuracy that increases over time. One way to improve the robot's positioning accuracy is by merging all kinds of sensors capable of measuring the robot's displacement and speed. The most used sensors to improve knowledge of the robot's position on low-cost robotic platforms are cameras and inertial sensors.  This work analyzes the accuracy of the positioning systems based on the odometry obtained from the wheels, inertial sensors, and visual odometry. To analyze the precision of the robot's movement, the real trajectories of a two-wheeled robot are compared with the expected trajectory (ground truth) using different combinations of the mentioned sensors. The results of the experiment provide a good indication of the cost-benefit of using these types of sensors to perform the odometry of robotic platforms.

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Published

2022-06-04

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Articles