Robust mobile robot localization based on security laser scanner

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 robustn...

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Bibliographic Details
Main Author: Sobreira, Héber (author)
Other Authors: Moreira, António Paulo G. M. (author), Costa, Paulo Gomes da (author), Lima, José (author)
Format: conferenceObject
Language:eng
Published: 2018
Subjects:
AGV
Artificial beacons
Kalman filter
Localization
Mobile robotics
Outliers rejection
Security laser
Online Access:http://hdl.handle.net/10198/15359
Country:Portugal
Oai:oai:bibliotecadigital.ipb.pt:10198/15359
Description
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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