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Advances in Manufacturing ›› 2018, Vol. 6 ›› Issue (1): 118-125.doi: 10.1007/s40436-018-0216-y

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Tracking and localization for omni-directional mobile industrial robot using reflectors

Shuai Guo1, Ting-Ting Fang1, Tao Song1, Feng-Feng Xi2, Bang-Guo Wei1   

  1. 1 Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, People's Republic of China;
    2 Department of Aerospace Engineering, Ryerson University, Toronto, Canada
  • 收稿日期:2017-04-17 修回日期:2018-01-24 出版日期:2018-03-25 发布日期:2018-03-25
  • 通讯作者: Tao Song,songtao43467226@shu.edu.cn E-mail:songtao43467226@shu.edu.cn
  • 基金资助:

    This work was supported by the Shanghai Municipal Science and Technology Commission (Grant No. 15550721900).

Tracking and localization for omni-directional mobile industrial robot using reflectors

Shuai Guo1, Ting-Ting Fang1, Tao Song1, Feng-Feng Xi2, Bang-Guo Wei1   

  1. 1 Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, People's Republic of China;
    2 Department of Aerospace Engineering, Ryerson University, Toronto, Canada
  • Received:2017-04-17 Revised:2018-01-24 Online:2018-03-25 Published:2018-03-25
  • Contact: Tao Song,songtao43467226@shu.edu.cn E-mail:songtao43467226@shu.edu.cn
  • Supported by:

    This work was supported by the Shanghai Municipal Science and Technology Commission (Grant No. 15550721900).

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摘要：

In this paper, an improved tracking and localization algorithm of an omni-directional mobile industrial robot is proposed to meet the high positional accuracy requirement, improve the robot's repeatability positioning precision in the traditional trilateral algorithm, and solve the problem of pose lost in the moving process. Laser sensors are used to identify the reflectors, and by associating the reflectors identified at a particular time with the reflectors at a previous time, an optimal triangular positioning method is applied to realize the positioning and tracking of the robot. The experimental results show that positioning accuracy can be satisfied, and the repeatability and anti-jamming ability of the omni-directional mobile industrial robot will be greatly improved via this algorithm.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-018-0216-y

关键词: Mobile industrial robot, Tracking and positioning, Matching

Abstract:

In this paper, an improved tracking and localization algorithm of an omni-directional mobile industrial robot is proposed to meet the high positional accuracy requirement, improve the robot's repeatability positioning precision in the traditional trilateral algorithm, and solve the problem of pose lost in the moving process. Laser sensors are used to identify the reflectors, and by associating the reflectors identified at a particular time with the reflectors at a previous time, an optimal triangular positioning method is applied to realize the positioning and tracking of the robot. The experimental results show that positioning accuracy can be satisfied, and the repeatability and anti-jamming ability of the omni-directional mobile industrial robot will be greatly improved via this algorithm.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-018-0216-y

Key words: Mobile industrial robot, Tracking and positioning, Matching

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