Position and Orientation Estimation of Omniwheel Robot Using IMU

Abstract

This research successfully designed and implemented a position and direction estimation system (odometry) on a four-wheeled omnidirectional robot by integrating a rotary encoder sensor and an Inertial Measurement Unit (IMU). The goal is to create autonomous robots capable of moving holonomically (in any direction without changing body orientation) with high accuracy for the ABU Robocon 2024 competition. The research method uses a Research and Development (R&D) approach by building a prototype of a robot controlled by the Arduino Mega 2560. The navigation control and trajectory tracking system is designed with a gyrodometry algorithm that fuses position data from two rotary encoders (X and Y axes) and orientation data from MPU6050 IMU sensors. The test results showed that the robot was able to follow a rectangular pattern trajectory (1000 mm x 500 mm) with a maximum position error of 50 mm on the X axis and 70 mm on the Y axis. The discussion of results identified that the integration of encoder and IMU data through complementary filters successfully improved the system's resistance to gyroscope drift and wheel slippage. It was concluded that this prototype of an omnidirectional robot with a fusion sensor-based odometry system has met the criteria of sufficient stability and accuracy for robotics competition applications.