Mobile Robot Localization Based on a Security Laser: An Industry Scene Implementation

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2016

Autores

Sobreira, H (Autor) Outra; António Paulo Moreira (Autor) FEUP; Paulo Gomes da Costa (Autor) FEUP; Lima, J (Autor) Outra

Ata de Conferência Internacional

Título: ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 2

Páginas: 131-142

2nd Iberian Robotics Conference (ROBOT)

Lisbon, PORTUGAL, NOV 19-21, 2015

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 1 Citação

Outras Informações

ID Authenticus: P-00K-2AP

DOI: 10.1007/978-3-319-27149-1_11

Abstract (EN): Usually the Industrial Automatic Guide Vehicles (AGVs) have two kind of lasers. One for navigation on the top and others for obstacle detection (security lasers). Recently, security lasers extended its output data with obstacle distance (contours) and reflectivity, that allows the development of a novel localization system based on a security laser. This paper addresses a localization system that avoids a dedicated laser scanner reducing the implementations cost and robot size. Also, performs a tracking system with precision and robustness that can operate AVGs in an industrial environment. Artificial beacons detection algorithm combined with a Kalman filter and outliers rejection method increase the robustness and precision of the developed system. A comparison between the presented approach and a commercial localization system for industry is presented. Finally, the proposed algorithms were tested in an industrial application under realistic working conditions.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12