Hybrid Maps Enhanced Localization System for Mobile Manipulator in Harsh Manufacturing Workshop

• Published in: IEEE access Vol. 8; pp. 10782 - 10795
• Main Authors: Li, Gen, Huang, Yu, Zhang, Xiaolong, Liu, Chao, Shao, Wenjun, Jiang, Liquan, Meng, Jie
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive search techniques; Barriers; Conferences; Convexity; global localization; hybrid maps; Hybrid systems; Iterative methods; Laser radar; Localization method; localization system; Machine tools; Manipulators; Manufacturing; manufacturing workshop; Mobile manipulator; Numerical controls; pose tracking; Reliability; Robot sensing systems; Searching; Three dimensional models; Tracking; Workshops

With excellent mobility and flexibility, mobile manipulators have great potential for loading and unloading tasks of numerical control machine tools (CNC) in manufacturing workshops. However, because of the rough and oily ground, dynamic obstacles and the convex plate of a CNC, harsh manufacturing w...