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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 incorporation of those constraints. The final results are based on field experiment.