LiDAR/DR-Integrated Mobile Robot Localization Employing IMM-EKF/PF Filtering

Feng, Ning; Zhang, Yong; Xu, Yuan; Bi, Shuhui; Liu, Tongqian

In order to solve the problems that indoor mobile robots have parking during the traveling process and the Extended Kalman filter (EKF) receives too much influence on parameter selection, this paper proposes an Interacting Multiple Model (IMM)-EKF/Particle Filtering (PF) adaptive algorithm for the tightly inertial navigation system (INS)/Light Detection And Ranging (LiDAR) integrated navigation. The EKF and PF calculate the position of the robot respectively, then the smaller Mahalanobis distance-based filter’s output is selected as the initial value of the next iteration, which improves the accuracy of the positioning for the robot. Based on that, the two motion equations of the static and normal motion models are dsigned at the same time. A Markov chain for converting the two state of the model, and the weighting filtering result of the filtered is used to provide distance estimates. The real experimental results show that the IMM-EKF/PF adaptive algorithm improves the positioning accuracy of mobile robots in the presence of parking.