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Information Fusion of GPS, INS and Odometer Sensors for Improving Localization Accuracy of Mobile Robots in Indoor and Outdoor Applications

Published online by Cambridge University Press:  27 May 2020

Sofia Yousuf  and
Muhammad Bilal Kadri Open the ORCID record for Muhammad Bilal Kadri [Opens in a new window]
Sofia Yousuf
Affiliation:
Department of Mechatronics, College of Engineering, Karachi Institute of Economics and Technology (PAF-KIET), Karachi, Pakistan. E-mail: sofia.yousuf@pafkiet.edu.pk
Muhammad Bilal Kadri*
Affiliation:
Department of Mechatronics, College of Engineering, Karachi Institute of Economics and Technology (PAF-KIET), Karachi, Pakistan. E-mail: sofia.yousuf@pafkiet.edu.pk
*
*Corresponding author. E-mail: bilal.kadri@pafkiet.edu.pk
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Summary

In mobile robot localization with multiple sensors, myriad problems arise as a result of inadequacies associated with each of the individual sensors. In such cases, methodologies built upon the concept of multisensor fusion are well-known to provide optimal solutions and overcome issues such as sensor nonlinearities and uncertainties. Artificial neural networks and fuzzy logic (FL) approaches can effectively model sensors with unknown nonlinearities and uncertainties. In this article, a robust approach for localization (positioning) of a mobile robot in indoor as well as outdoor environments is proposed. The neural network is utilized as a pseudo-sensor that models the global positioning system (GPS) and is used to predict the robot’s position in case of GPS signal loss in indoor environments. The data from proprioceptive sensors such as inertial sensors and GPS are fused using the Kalman and the complementary filter-based fusion schemes in the outdoor case. To eliminate the position inaccuracies due to wheel slippage, an expert FL system (FLS) is implemented and cascaded with the sensor fusion module. The proposed technique is tested both in simulation and in real scenarios of robot movements. The simulations and results from the experimental platform validate the efficacy of the proposed algorithm.

Keywords

Mobile robotsMotion planningRobot localizationPose estimation and registrationSensor or actuator design
Type
Articles
Information
Robotica , Volume 39 , Issue 2 , February 2021 , pp. 250 - 276
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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