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
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