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Authors: Suriya D. Murthy ; Srivenkata Krishnan S ; Sundarrajan G ; Kiran Kassyap S ; Ragul Bhagwanth and Vidhya Balasubramanian

Affiliation: Amrita School of Engineering, Amrita Vishwa Vidyapeetham and Amrita University, India

Keyword(s): Robot Localization, Indoor Localization, Sensor Fusion, Inertial Sensors, Dead Reckoning.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 436-445. DOI: 10.5220/0005986804360445

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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