| Issue |
MATEC Web Conf.
Volume 401, 2024
21st International Conference on Manufacturing Research (ICMR2024)
|
|
|---|---|---|
| Article Number | 12003 | |
| Number of page(s) | 6 | |
| Section | Robotics and Autonomous Systems for Advanced Manufacturing | |
| DOI | https://doi.org/10.1051/matecconf/202440112003 | |
| Published online | 27 August 2024 | |
DSIL4IMR: A dual step-based initial localization method for industrial mobile robot
1 School of Mechanical Engineering, Shandong University, Jinan, China
2 The Second Construction Limited Company Of China Construction Eighth Engineering Division
3 School of Computer Science and Technology, Shandong University of Science and Technology, Qingdao, China
4 Faculty of Information Technology and Electrical Engineering, University of Oulu, Oulu, Finland
* Corresponding authors: jiehan.zhou@ieee.org, zhoujun@sdu.edu.cn
This paper introduces a dual-step based initial localization method for industrial mobile robots (DSIL4IMR) that operates without user intervention at start-up. Utilizing a differential chassis equipped with a radar sensor, the method combines feature extraction and spatial information matching steps to locate the robot’s initial position. A unique metric, degree of stability, is developed to identify a feature map whether it is a dynamic or erroneous feature. DSIL4IMR does not require artificial landmarks and outperforms existing WiFi fingerprinting and map filter methods in both accuracy and efficiency. DSIL4IMR triples the localization efficiency compared to traditional approaches while achieving centimetre-level precision.
© The Authors, published by EDP Sciences, 2024
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