Tracking and localization for omni-directional mobile industrial robot using reflectors

Abstract

In this paper, an improved tracking and localization algorithm of an omni-directional mobile industrial robot is proposed to meet the high positional accuracy requirement, improve the robot’s repeatability positioning precision in the traditional trilateral algorithm, and solve the problem of pose lost in the moving process. Laser sensors are used to identify the reflectors, and by associating the reflectors identified at a particular time with the reflectors at a previous time, an optimal triangular positioning method is applied to realize the positioning and tracking of the robot. The experimental results show that positioning accuracy can be satisfied, and the repeatability and anti-jamming ability of the omni-directional mobile industrial robot will be greatly improved via this algorithm.