Position estimation through sensor data fusion and path control of an omnidirectional robot

The aim of this work consists in improving the position estimation of a three - wheeled omnidirectional robot. The estimation is done with three different sensors: optical mouse, odometry and inertial sensors by using a Kalman filter. It estimates the robot's coordinates and orientation based on the dead reckoning performed by the three sensors; therefore, it can update the initial estimation and deal with irregularities in the displacement like the wheel slip. The robotic platform was implemented and built with commercial components and programmed entirely in an open source platform.