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 its on board sensors. IMU sensors are most suitable due to their cost effectiveness. In this project, a novel approach that aims to improve the accuracy of IMU based robotic localization was proposed and implemented. This approach analyses the performance of gyroscope and encoders under different scenarios, and integrates 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. We show that such an approach improves the localization accuracy significantly, while keeping costs low.
Project Done by: Dr. Vidhya Balasubramanian, Srivenkata Krishnan S., Sundarrajan G., Kiran Kassyap S.