A Robust Approach for Improving the Accuracy of IMU based Indoor Mobile Robot Localization

Suriya D. Murthy, Srivenkata Krishnan S, Sundarrajan G, Kiran Kassyap S, Ragul Bhagwanth, Vidhya Balasubramanian

Abstract

Indoor localization is a vital part of autonomous robots. Obtaining accurate indoor localization is difficult in challenging indoor environments where external infrastructures are unreliable and maps keep changing. In such cases the robot should be able to localize using their on board sensors. IMU sensors are most suitable due to their cost effectiveness. We propose a novel approach that aims to improve the accuracy of IMU based robotic localization by analyzing the performance of gyroscope and encoders under different scenarios, and integrating them by exploiting their advantages. In addition the angle computed by robots to avoid obstacles as they navigate, is used as an additional source of orientation estimate and appropriately integrated using a complementary filter. Our experiments that evaluated the robot over different trajectories demonstrated that our approach improves the accuracy of localization over applicable existing techniques.

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Paper Citation


in Harvard Style

Murthy S., S S., G S., S K., Bhagwanth R. and Balasubramanian V. (2016). A Robust Approach for Improving the Accuracy of IMU based Indoor Mobile Robot Localization . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 436-445. DOI: 10.5220/0005986804360445


in Bibtex Style

@conference{icinco16,
author={Suriya D. Murthy and Srivenkata Krishnan S and Sundarrajan G and Kiran Kassyap S and Ragul Bhagwanth and Vidhya Balasubramanian},
title={A Robust Approach for Improving the Accuracy of IMU based Indoor Mobile Robot Localization},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={436-445},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005986804360445},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Robust Approach for Improving the Accuracy of IMU based Indoor Mobile Robot Localization
SN - 978-989-758-198-4
AU - Murthy S.
AU - S S.
AU - G S.
AU - S K.
AU - Bhagwanth R.
AU - Balasubramanian V.
PY - 2016
SP - 436
EP - 445
DO - 10.5220/0005986804360445