In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system for robot motion. The proposed system is based on the combination of relative and absolute measurement methods, in which the data from the encoder, digital compass, and laser scanner sensor are fused using the extended Kalman filter (EKF). The system also successfully eliminates the errors caused by the environment as well as the error accumulation. The experimental results show good accuracy and stability of position and orientation which can be further applied for the robot working in the indoor environment.
翻译：近年来,移动机器人一直受到许多研究人员的关注,因为这些机器人广泛应用于日常生活的各个领域。本文应用虚拟机器人操作系统平台来开发机器人运动的定位系统。拟议系统基于相对和绝对测量方法的结合,其中编码器、数字罗盘和激光扫描传感器的数据使用扩展的卡尔曼过滤器(EKF)进行整合。该系统还成功地消除了环境造成的错误以及错误积累。实验结果显示定位和方向的准确性和稳定性,可以进一步应用于室内操作的机器人。
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