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MoRPI-PINN: a physics-informed framework for mobile robot pure inertial navigation.

Arup Kumar Sahoo1, Itzik Klein2

  • 1The Hatter Department of Marine Technologies, Charney School of Marine Sciences, University of Haifa, Haifa, 3498838, Israel. asahoo@campus.haifa.ac.il.

Scientific Reports
|April 28, 2026
PubMed
Summary
This summary is machine-generated.

Mobile robots can navigate accurately without GPS using a novel physics-informed neural network (MoRPI-PINN). This method improves inertial navigation accuracy by over 80% for unseen paths.

Keywords:
AccelerometerDead reckoningGyroscopeInertial navigation systemMobile robotPhysics-informed neural networks

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Sensor Fusion

Background:

  • Accurate mobile robot navigation is essential for full autonomy, especially when GPS or cameras are unavailable.
  • Inertial sensors alone suffer from drift due to noise and errors, limiting pure inertial navigation.
  • Maneuvering robots in a snake-like motion can enhance the inertial signal-to-noise ratio to mitigate drift.

Purpose of the Study:

  • To propose MoRPI-PINN, a physics-informed neural network framework for drift mitigation in inertial-based mobile robot navigation.
  • To investigate and improve the pure inertial navigation solution for mobile robots.
  • To demonstrate the effectiveness of physics-informed neural networks in enhancing navigation accuracy.

Main Methods:

  • Developed MoRPI-PINN, a physics-informed neural network framework tailored for inertial navigation.
  • Embedded physical laws and constraints within the neural network's training process.
  • Validated the approach using real-world experimental data with unseen trajectories.

Main Results:

  • MoRPI-PINN achieved over 80% accuracy improvement compared to baseline approaches for navigation on unseen trajectories.
  • The framework provides an accurate and improved navigation solution by leveraging physical principles.
  • Demonstrated the feasibility of implementing MoRPI-PINN on edge devices for practical mobile robot applications.

Conclusions:

  • MoRPI-PINN offers a robust solution for accurate mobile robot navigation in GPS-denied environments.
  • The physics-informed approach significantly enhances the reliability and precision of inertial navigation.
  • This lightweight framework is suitable for widespread adoption in various mobile robot applications.