Abstract
High-precision and robust localization is the key issue for long-term and autonomous navigation of mobile robots in industrial scenes. In this article, we propose a high-precision and robust localization system based on laser and artificial landmarks. The proposed localization system is mainly composed of three modules, namely scoring mechanism-based global localization module, laser and artificial landmark-based localization module, and relocalization trigger module. Global localization module processes the global map to obtain the map pyramid, thus improve the global localization speed and accuracy when robots are powered on or kidnapped. Laser and artificial landmark-based localization module is employed to achieve robust localization in highly dynamic scenes and high-precision localization in target areas. The relocalization trigger module is used to monitor the current localization quality in real time by matching the current laser scan with the global map and feeds it back to the global localization module to improve the robustness of the system. Experimental results show that our method can achieve robust robot localization and real-time detection of the current localization quality in indoor scenes and industrial environment. In the target area, the position error is less than 0.004 m and the angle error is less than 0.01 rad.
Highlights
Mobile robot localization is a key issue for long-term and autonomous navigation of various mobile robots, such as service robots, logistics robots, industrial automated guided vehicle (AGV), and self-driving cars
For indoor mobile robots, especially industrial AGVs, the whole localization process is crucial, from global localization when robots are powered on or kidnapped to robust localization when robots moving in dynamic environments, to high-precision localization in target loading area
We propose a localization system, composing of a scoring mechanism-based global localization module, a laser and artificial landmark-based localization module, and a relocalization trigger module, to achieve highprecision and robust robot localization in complex and large-scale indoor scenes
Summary
Mobile robot localization is a key issue for long-term and autonomous navigation of various mobile robots, such as service robots, logistics robots, industrial automated guided vehicle (AGV), and self-driving cars. Pose tracking mainly solves the problems of robust localization in dynamic environments and high-precision localization in target areas. For indoor mobile robots, especially industrial AGVs, the whole localization process is crucial, from global localization when robots are powered on or kidnapped to robust localization when robots moving in dynamic environments, to high-precision localization in target loading area. The system can robustly achieve the complete working process from global localization to robust localization in dynamic environments and to high-precision localization in target loading area. The relocalization trigger mechanism can detect the localization quality of the mobile robot in real time and feed it back to the global localization module, which could improve the robustness of the whole localization system in long-term navigation. We validate the performance of our methods in indoor scene and industrial environments in the fourth section and we conclude in the fifth section
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