Tracking and localization for omni-directional mobile industrial robot using reflectors
Received date: 2017-04-17
Revised date: 2018-01-24
Online published: 2018-03-25
Supported by
This work was supported by the Shanghai Municipal Science and Technology Commission (Grant No. 15550721900).
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
Shuai Guo , Ting-Ting Fang , Tao Song , Feng-Feng Xi , Bang-Guo Wei . Tracking and localization for omni-directional mobile industrial robot using reflectors[J]. Advances in Manufacturing, 2018 , 6(1) : 118 -125 . DOI: 10.1007/s40436-018-0216-y
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