Development of Indoor Navigation System for Humanoid Robot Using Multi-sensors Integration

Abstract

This paper proposes the 3D navigation for humanoid robot navigation by using integration of ultrasonic sensor, IMU (Inertial Measurement Unit) and commands which control the humanoid robot. The navigation using ultrasonic sensor is improved by analyzing the relation of ultrasonic TOA (Time of Arrival) and signal strength and solving synchronization problem in moving condition. In this paper, Extended Kalman filter model for the humanoid robot is represented with only position measurement or position and velocity measurements. The performance of the proposed approach is verified through various tests using toy train. Consequently, we implemented a 3D indoor navigation system operating in 10Hz with 9cm accuracy in 3D position error.