DocumentCode
707783
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
fYear
2015
fDate
8-10 April 2015
Firstpage
162
Lastpage
167
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Robot Systems and Competitions (ICARSC), 2015 IEEE International Conference on
Conference_Location
Vila Real
Type
conf
DOI
10.1109/ICARSC.2015.28
Filename
7101627
Link To Document