Paper Info
Title
Mobile Robot Localization Based on a Security Laser: An Industry Scene Implementation.
Abstract
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.
Year
DOI
Venue
2015
10.1007/978-3-319-27149-1_11
ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 2
Keywords
Field
DocType
AGV,Mobile robotic,Localization,Artificial beacons,Kalman filter,Outliers rejection,Security laser
Beacon,Computer vision,Obstacle,Laser scanning,Computer science,Simulation,Tracking system,Robustness (computer science),Kalman filter,Artificial intelligence,Robot,Mobile robot
Conference
Volume
ISSN
Citations 
418
2194-5357
0
PageRank 
References 
Authors
0.34
2
4
Name
Order
Citations
PageRank
heber sobreira1194.14
António Paulo Moreira2527.97
Paulo Gomes Costa3122.89
José Lima411.73