A STUDY AND DESIGN OF LOCALIZATION SYSTEM FOR MOBILE ROBOT BASED ON ROS

  • Nguyễn Anh Tú
  • Vũ Công Thành
  • Nguyễn Trọng Hải
  • Nguyễn Trọng Duy
  • Hồ Văn Hoàng
  • Mai Duy Quang
Keywords: Mobile Robot, localization System, Robot Operation System (ROS), Extended Kalman filter (EKF).

Abstract

In recent years, the mobile robot has been the concern of numerous
researcher since they are widely applied in various fields of daily life. This paper
applies a virtual robot operating system (ROS) platform to develop a localization
system for robot motion. The proposed system is based on the combination of
relative and absolute measurement methods, in which the data from the
encoder, digital compass, and laser scanner sensor are fused using the extended
Kalman filter (EKF). The system also successfully eliminates the errors caused by
the environment as well as the error accumulation. The experimental results
show good accuracy and stability of position and orientation which can be
further applied for the robot working in the indoor environment.

điểm /   đánh giá
Published
2021-10-15
Section
RESEARCH AND DEVELOPMENT