Comparison of Data Fusion Techniques for Robot Navigation

摘要

This paper proposes and compares several data fusion techniques for robot navigation. The fusion techniques investigated here are several topologies of the Kalman filter. The problem that had been simulated is the navigation of a robot carrying two sensors, one Global Positioning System (GPS) and one Iner-tial Navigation System (INS). For each of the above topologies, the statistic error and its, mean value, variance and standard deviation were examined.