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Photoelectric scanning-based resection method for mobile robot localization.

Jiarui Lin, Zhiyuan Niu, Yongjie Ren

    Applied Optics
    |June 18, 2021
    PubMed
    Summary
    This summary is machine-generated.

    A new workshop measurement positioning system (wMPS) enables flexible and cost-effective indoor localization for mobile robots. This method uses a single transmitter and distributed receivers for precise navigation in industrial settings.

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    Area of Science:

    • Robotics
    • Metrology
    • Industrial Automation

    Background:

    • Indoor localization is crucial for mobile robot navigation in manufacturing.
    • Workshop measurement positioning systems (wMPS) are emerging as a key technology.
    • Existing methods often require multiple stationary transmitters, limiting flexibility and increasing costs.

    Purpose of the Study:

    • To propose a novel wMPS-based resection localization method for mobile robots.
    • To enhance flexibility and cost-effectiveness in industrial indoor localization.
    • To enable precise position and orientation determination for mobile robots.

    Main Methods:

    • A single omnidirectional transmitter on the mobile robot and scanning photoelectric receivers in the workspace.
    • Iterative optimization of robot position and orientation using constraint equations.
    • Development of two initial value determination methods for rapid optimal solutions.
    • Monte Carlo simulations to analyze localization uncertainty propagation.

    Main Results:

    • Demonstrated higher flexibility and cost-effectiveness compared to traditional methods.
    • Achieved high accuracy in automated guided vehicle localization experiments.
    • Validated the proposed method's effectiveness through practical application.

    Conclusions:

    • The novel wMPS-based resection localization method offers a significant advancement for mobile robot navigation.
    • The approach provides a flexible, cost-effective, and accurate solution for industrial indoor localization.
    • Future work may involve further optimization and integration into diverse manufacturing environments.