Publication
Robust mobile robot localization based on security laser scanner
| Summary: | 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. |
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| Main Authors: | Sobreira, Héber |
| Other Authors: | Moreira, António Paulo G. M.; Costa, Paulo Gomes da; Lima, José |
| Subject: | AGV Artificial beacons Kalman filter Localization Mobile robotics Outliers rejection Security laser |
| Year: | 2015 |
| Country: | Portugal |
| Document type: | conference paper |
| Access type: | open access |
| Associated institution: | Universidade Politécnica de Bragança |
| Language: | English |
| Origin: | Biblioteca Digital da UPB |
| Summary: | 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. |
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