Improvement of localization with artificial landmark for mobile manipulator

被引：4
|
作者：
Guo, Shuai [1 ]
Yan, Zhong-Xiang [1 ]
Song, Tao [1 ]
Xu, Zhen [1 ]
Zeng, Ling-Dong [1 ]
机构：
[1] Shanghai Univ, Shanghai Key Lab Intelligent Mfg & Robot, 99 Shangda Rd, Shanghai 200444, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2019年 / 16卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Mobile manipulator; AUKF; Localization accuracy; KALMAN FILTER; TRACKING; DESIGN;
D O I：
10.1177/1729881419862985
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A method is presented for improving the localization accuracy of a mobile manipulator. The system consists of an industrial manipulator mounted on a mobile platform to perform fuselage drilling/riveting tasks in indoor environment. The localization is based on dual laser range finders mounted on the system and a number of artificial landmarks preset in the environment. Localization based on trilateration method is presented in this study. The adaptive unscented Kalman filter method is used to improve the accuracy of localization as well. The proposed method has been verified through experiments and the localization accuracy of mobile manipulator can be improved to 8 mm in most cases.
引用
收藏
页数：11
相关论文
共 50 条
  • [21] Localization of Mobile Robot Based on Fusion of Artificial Landmark and RF TDOA Distance under Indoor Sensor Network
    Kim, Yoon-Gu
    An, Jinung
    Lee, Ki-Dong
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2011, 8 (04): : 203 - 211
  • [22] Fast landmark tracking and localization algorithm for the mobile robot self-localization
    Yoon, KJ
    Jang, GJ
    Kim, SH
    Kweon, IS
    MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, 2001, : 185 - 190
  • [23] Tip Localization Analysis for Mobile Manipulator in Construction Field
    Guo, Shuai
    Li, Shenyang
    Song, Tao
    Wei, Bangguo
    2018 3RD IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (IEEE ICARM), 2018, : 661 - 666
  • [24] Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution
    Hrabar, Ivan
    Kovacic, Zdenko
    MACHINES, 2023, 11 (04)
  • [25] A Low Cost Mobile Manipulator for Autonomous Localization and Grasping
    Shen, Bowen
    Lin, Xiaojian
    Xu, Guozeng
    Zhou, Yun
    Wang, Xiuping
    2021 5TH INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS 2021), 2021, : 193 - 197
  • [26] Artificial force in robust control of mobile manipulator application
    Mazur, Alicja
    Cholewinski, Mateusz
    2013 9TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO), 2013, : 258 - 263
  • [27] Reliable and efficient landmark-based localization for mobile robots
    Loevsky, I.
    Shimshoni, I.
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2010, 58 (05) : 520 - 528
  • [28] Landmark detection and localization for mobile robot applications: a multisensor approach
    Amarasinghe, Dilan
    Mann, George K. I.
    Gosine, Raymond G.
    ROBOTICA, 2010, 28 : 663 - 673
  • [29] Indoor Autonomous Mobile Robot Localization Using Natural Landmark
    Luo, Ren C.
    Lin, Shih-Chi
    Lai, Chun Chi
    IECON 2008: 34TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-5, PROCEEDINGS, 2008, : 1567 - +
  • [30] Dense Feature -based Landmark Identification for Mobile Platform Localization
    Ba-Viet Ngo
    Thanh-Hai Nguyen
    INTERNATIONAL JOURNAL OF COMPUTER SCIENCE AND NETWORK SECURITY, 2018, 18 (12): : 186 - 200
12345