Low cost IMU based indoor mobile robot navigation with the assist of odometry and Wi-Fi using dynamic constraints

  title={Low cost IMU based indoor mobile robot navigation with the assist of odometry and Wi-Fi using dynamic constraints},
  author={Cheng Chen and Wennan Chai and Ahmad Kamal Nasir and Hubert Roth},
  journal={Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium},
  • C. Chen, W. Chai, +1 author H. Roth
  • Published 23 April 2012
  • Engineering
  • Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium
It is an important and fundamental ability for a mobile robot to know its position and attitude. This article introduces several approaches for solving an indoor mobile robot positioning problem based on recursive estimation algorithm. Sensor information from a low cost inertial measurement unit, wheel mounted encoders and Wi-Fi is fused to get current robot position. Since one cannot ignore the nature properties of robot dynamic constraints, the method purposed in this paper involves… Expand

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