Initial state observer design for self-localization of mobile robots

In this paper, we introduce a sensor fusion method for position locations of mobile robots using an initial state observer and propose a gain calculation method. We confirm the effectiveness of the proposed method by experiments. Experimental results illustrate the initial state observer based sensor fusion method with proposed gain calculation method has almost the same performance as EKF. Moreover, the proposed method imposes much smaller computational cost than EKF. Finally, our proposed method is confirmed as a robust estimation method for time variation.