Improvement of localization with artificial landmark for mobile manipulator

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...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 16; no. 4; p. 172988141986298
Main Authors Guo, Shuai, Yan, Zhong-Xiang, Song, Tao, Xu, Zhen, Zeng, Ling-Dong
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.07.2019
Sage Publications Ltd
SAGE Publishing
Subjects
Accuracy
Adaptive filters
Airframes
Fuselages
Indoor environments
Kalman filters
Landmarks
Laser range finders
Localization
Riveting
Mobile manipulator
AUKF
Localization accuracy
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Summary: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.
ISSN:1729-8806
1729-8814
1729-8814
DOI:10.1177/1729881419862985