Title :
Robust Mobile Robot Localization Based on Security Laser Scanner
Author :
Sobreira, Heber ; Moreira, A. Paulo ; Gomes Costa, Paulo ; Lima, Jose
Author_Institution :
Fac. of Eng., Univ. of Porto, Porto, Portugal
Abstract :
This paper addresses the development of a new localization system based on a security laser presented on most AGVs for safety reasons. An enhanced artificial beacons detection algorithm is applied with a combination of a Kalman filter and an outliers rejection method in order to increase the robustness and precision of the system. This new robust approach allows to implement such system in current AGVs. Real results in industrial environment validate the proposed methodology.
Keywords :
Kalman filters; SLAM (robots); automatic guided vehicles; industrial robots; mobile robots; optical scanners; AGV; Kalman filter; enhanced artificial beacon detection algorithm; industrial environment; outlier rejection method; robust mobile robot localization; security laser scanner; Filtering algorithms; Kalman filters; Lasers; Measurement by laser beam; Mobile robots; Security; AGV; Kalman filter; artificial beacons; localization; mobile robotics; outliers rejection; security laser;
Conference_Titel :
Autonomous Robot Systems and Competitions (ICARSC), 2015 IEEE International Conference on
Conference_Location :
Vila Real
DOI :
10.1109/ICARSC.2015.28
