Experimental Evaluation of Data Fusion Techniques and Adaptive Control for Mobile Robot Localization

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

  • Wolmar Araújo Neto
  • Daniel Khede Dourado Villa
  • Mário Sarcinelli-Filho
  • Murillo Ferreira Dos Santos
  • José Lima
  • Ana Isabel Pereira
  • Maurício Herche Fófano De Morais
  • Paolo Mercorelli

This study presents an approach to improving the localization of mobile robots in a controlled test environment through sensor fusion. Currently, the position of the ground robot (Unmanned Ground Vehicle (UGV) P3DX) can be estimated using an optimization algorithm or another technique based on a previously known map. In contrast, the aerial robot (Unmanned Aerial Vehicle (UAV) Bebop Parrot 2) can determine its relative position by detecting a marker on the ground robot using the Robot Operating System (ROS) WhyCon package. However, ambiguities or disturbances may compromise the accuracy of the robots' localization. To mitigate these limitations, Ultra-WideBand (UWB) sensors were incorporated into the system, enabling a more robust data fusion by integrating information from multiple sensors. Additionally, a filter was applied to reduce the impact of high-frequency noise on position estimation. Accurate localization test data were used to construct a simulated scenario and analyze the performance of the proposed approach. The simulation results demonstrate that sensor fusion, combined with noise filtering, significantly improves localization accuracy, making the approach promising for applications in mobile robot navigation.

Original languageEnglish
Title of host publicationProceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025
EditorsJan Kacur, Tomas Skovranek, Marek Laciak, Andrea Mojzisova
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date2025
ISBN (electronic)9798331501273
DOIs
Publication statusPublished - 2025
Event26th International Carpathian Control Conference, ICCC 2025 - Stary Smokovec, High Tatras, Slovakia
Duration: 19.05.202521.05.2025

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

    Research areas

  • Adaptive Control, Data Fusion, Position Estimation, UAV, UGV
  • Engineering