REAL TIME FILTER AND FUSION OF MULTI-SENSOR DATA FOR LOCALIZATION OF MOBILE ROBOT

This project work presents the sensor fusion of Global Positioning System (GPS), Inertial Measurement Unit (IMU) and Odometry data from wheel encoders which is used to estimate localization of mobile robot. GPS, IMU, Wheel encoders are interfaced with MBED. Filters are used to remove erroneous noise from the data obtained fr om sensors. Low pass IIR filter is used for Differential Global Positioning System (DGPS) data, Complementary filter for IMU data. The project work discusses each of these approaches for Real time filtering of fusion of sensor in an Outdoor environment. The above Fusion algorithm is implemented on MBED Platform.