Development of a multi-sensor perceptual system for mobile robot and EKF-based localization

TL;DR

This paper introduces a multi-sensor perceptual system for mobile robots, utilizing sensor fusion and EKF for accurate localization, validated through experiments demonstrating system effectiveness and filter efficiency.

Contribution

It presents a novel integrated perceptual system with sensor fusion and EKF for improved robot localization and control.

Findings

The perceptual system functions effectively in experiments.

EKF provides optimal state estimation under data uncertainties.

System enhances mobile robot localization accuracy.

Abstract

This paper presents the design and implementation of a perceptual system for the mobile robot using modern sensors and multi-point communication channels. The data extracted from the perceptual system is processed by a sensor fusion model to obtain meaningful information for the robot localization and control. Due to the uncertainties of acquiring data, an extended Kalman filter was applied to get optimal states of the system. Several experiments have been conducted and the results confirmed the functioning operation of the perceptual system and the efficiency of the Kalman filter approach.