Sensor Fusion of Odometer, Compass and Beacon Distance for Mobile Robots

Abstract

The estimation of the pose of a differential drive mobile robot from noisy odometer, compass, and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment.