Abstract
This paper reports and outdoor localization method using a multi-sensor approach. Sensors were mounted on a differential drive Yamabico mobile robot. Experiments were done in university campus paths which are surrounded by trees. The localization framework is composed of two wheel rotary encoders, an Inertial Measurement Unit and a GPS. Localization approach using an Extended Kalman Filter (EKF) for data fusion is explained as well as data outlier rejection approach using a Chi-square test. Finally, experimental results validate the effectiveness of the proposed method.
