Indoor localization of a mobile robot using sensor fusion : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics with Honours at Massey University, Wellington, New Zealand

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dc.contributor.authorZhou, Jason
dc.date.accessioned2019-07-05T01:41:43Z
dc.date.available2019-07-05T01:41:43Z
dc.date.issued2011
dc.description.abstractReliable indoor navigation of mobile robots has been a popular research topic in recent years. GPS systems used for outdoor mobile robot navigation can not be used indoor (warehouse, hospital or other buildings) because it requires an unobstructed view of the sky. Therefore a specially designed indoor localization system for mobile robot is needed. This project aims to develop a reliable position and heading angle estimator for real time indoor localization of mobile robots. Two different techniques have been developed and each consisted of three different sensor modules based on infrared sensing, calibrated odometry and calibrated gyroscope. Integration of these three sensor modules is achieved by applying the real time Kalman filter which provides filtered and reliable information of a mobile robot's current location and orientation relative to its environment. Extensive experimental results are provided to demonstrate its improvement over conventional methods like dead reckoning. In addition, a control strategy is developed to control the mobile robot to move along the planned trajectory. The techniques developed in this project have potentials for the application for mobile robots in medical service, health care, surveillances, search and rescue in indoor environments.en_US
dc.identifier.urihttp://hdl.handle.net/10179/14761
dc.language.isoenen_US
dc.publisherMassey Universityen_US
dc.rightsThe Authoren_US
dc.subjectMobile robotsen_US
dc.subjectControl systemsen_US
dc.subjectRemote sensingen_US
dc.subjectWireless localizationen_US
dc.subjectRobots -- Controlen_US
dc.titleIndoor localization of a mobile robot using sensor fusion : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics with Honours at Massey University, Wellington, New Zealanden_US
dc.typeThesisen_US
massey.contributor.authorZhou, Jason
thesis.degree.disciplineMechatronicsen_US
thesis.degree.grantorMassey Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Engineering (M. Eng.)en_US
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