Uma avaliação da contribuição da fusão de sensores de posicionamento relativo na precisão dos sistemas de localização de robôs móveis terrestres

Abstract

The accurate localization of a robot is a fundamental challenge and one of the most important tasks for autonomous navigation systems. In autonomous navigation systems, the robot must keep aware of its location in the environment in order to determine the path it must follow to perform some task. One of the most common ways in mobile robotics to obtain the localization of the robot is the use of odometry based on the movement of the robot's wheels. The problem of this mechanism is that it presents an increasing imprecision over time and a high sensitivity to the type of pavement. One way to improve the robot's positioning accuracy is by fusing data of other sensors capable of measuring the robot's displacement and speed. The most used sensors to improve the knowledge of the robot's position on low-cost robotic platforms are visual odometry and inertial sensors. This paper proposes to analyze the accuracy of the positioning systems based on the odometry obtained from the wheels, inertial sensors and visual odometry and the impact of the fusion of these mechanisms on the accuracy of the robot's localization. To analyze the accuracy of the robot's movement, the real trajectory of a two wheeled robot is compared using the navigating system’s sensors, individually and combined. The robot uses the most common localization sensors on low-cost robotic platforms and was especially built for this experiment. The results of this experiment provide a good indication of the cost-benefit using these types of sensors when embedded to perform the mobile robot’s odometry