Mobile Robot Localization Based on Multi-sensor Fusion
HE Zhuangzhuang
DING Derui
WANG Yongxiong
Abstract：Mobile robot localization is the premise and basis for navigation and path planning. This paper proposes an indoor mobile robot localization method based on multi-sensor data fusion. The Monte Carlo algorithm based on particle filter is used to in?tegrate the information of multi-sensors such as laser radar,accelerometer and odometer to effectively improve the traditional local?ization method because it cannot correlate the underlying data information or the road surface slip causes the localization failure. Fur?thermore,by adopting the weight-based fusion,the influence of the "jumping" behavior in the successive iteration steps is eliminat?ed,the particle culling mechanism optimizes the particle population and improves the execution efficiency of the algorithm. Finally, based on the design of the two-wheeled robot platform,the effectiveness of the developed robot localization method is verified by the joint demonstration of simulation and real environment.
Keywords：mobile robotlocalizationmulti-sensor fusionparticle filter
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 325-329,343 )