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首页> 外文会议>IEEE International Conference on Industrial Technology >Robust and accurate localization system for mobile manipulators in cluttered environments
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Robust and accurate localization system for mobile manipulators in cluttered environments

机译：适用于杂乱环境中的移动机械手的稳健而精确的定位系统

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Autonomous robots play a pivotal role in improving productivity and reducing operational costs. They excel at both precision and speed in repetitive jobs and can cooperate with humans in complex tasks within dynamic environments. Self-localization is critical to any robot that must navigate or manipulate the environment. To solve this problem, a modular localization system suitable for mobile manipulators was developed. By using LIDAR data the proposed system is capable of achieving less than a centimeter in translation error and less than a degree in rotation error while requiring only 5 to 25 milliseconds of processing time. The system was tested in two different robot platforms at different velocities and in several cluttered and dynamic environments. It demonstrated high accuracy while performing pose tracking and high reliability when estimating the initial pose using feature matching. No artificial landmarks are required and it is able to adjust its operation rate in order to use very few hardware resources when a mobile robot is not moving.
机译：自主机器人在提高生产率和降低运营成本方面发挥着举足轻重的作用。他们在重复性工作中精益求精，并且可以在动态环境中的复杂任务中与人类合作。自我定位对于必须导航或操纵环境的任何机器人都是至关重要的。为了解决这个问题，开发了适用于移动操纵器的模块化定位系统。通过使用LIDAR数据，所提出的系统能够实现小于1厘米的平移误差和小于1度的旋转误差，同时仅需要5到25毫秒的处理时间。该系统已在两个不同的机器人平台上以不同的速度进行了测试，并在一些混乱和动态的环境中进行了测试。它在执行姿势跟踪时表现出很高的准确性，而在使用特征匹配来估计初始姿势时表现出很高的可靠性。不需要人工标志，它可以调整其运行速度，以便在移动机器人不移动时使用很少的硬件资源。

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