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In response to the localization challenges posed by multi-modal motion mode transitions during the locomotion of tracked-wheel robots in sheltered spaces, this paper presents a combination localization method based on Inertial Navigation System/Odometry (INS/OD). Leveraging the unique locomotion structure of tracked-wheel robots, a multi-modal odometry motion model and non-holonomic constrained (NHC) velocity model are established. A closed-loop extended Kalman filter is employed to construct the combination localization model, facilitating real-time computation and correction of the robot&#x2019;s heading angle using the odometry motion model, effectively mitigating system errors and preventing heading divergence. Practical localization tests were conducted on tracked-wheel robots to assess the performance of the proposed method. The results demonstrate that the combination localization method achieves position errors within 0.3578 meters, representing only 0.31% of the total travel distance, with an average error of 0.1611 meters, thus satisfying the practical localization requirements of tracked-wheel robots.

Combined localization method for multimodal wheel-track robots in sheltered space