loading
Documents

Research.Publish.Connect.

Paper

Authors: Luis Piardi 1 ; José Lima 2 and Paulo Costa 3

Affiliations: 1 Federal University of Technology, Paraná, Toledo and Brazil ; 2 Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Bragança, Portugal, INESC-TEC, Centre for Robotics in Industry and Intelligent Systems, Porto and Portugal ; 3 INESC-TEC, Centre for Robotics in Industry and Intelligent Systems, Porto, Portugal, Faculty of Engineering of University of Porto, Porto and Portugal

ISBN: 978-989-758-321-6

Keyword(s): Robot Localization, Lidar, Ground Truth, Circular Fitting.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: The localization systems are becoming more and more required in the actual flexible manufacturing systems based on mobile robots. There are several approaches to localize a mobile robot such as laser scanners reflective beacons, image mapping, lightning based systems, Ultra-wideband time-of-flight trilateration, odometry and fusion sensor data algorithms. During the development phase of a localization methodology, it is necessary to evaluate the proposed system: it is used a ground truth system. Ground truth systems are precise (usually based on reflective beacons) but expensive. This paper presents a low-cost ground truth system based on a standard low-cost laser scanner that, coupled with the presented algorithm, allows to localize the robot in the field and thus evaluate other localization systems. Results of the precision of the developed system are presented and validates the approach.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.227.157.163

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Piardi, L.; Lima, J. and Costa, P. (2018). Development of a Ground Truth Localization System for Wheeled Mobile Robots in Indoor Environments based on Laser Range-finder for Low-cost Systems.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 341-348. DOI: 10.5220/0006862203510358

@conference{icinco18,
author={Luis Piardi. and José Lima. and Paulo Costa.},
title={Development of a Ground Truth Localization System for Wheeled Mobile Robots in Indoor Environments based on Laser Range-finder for Low-cost Systems},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={341-348},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006862203510358},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Development of a Ground Truth Localization System for Wheeled Mobile Robots in Indoor Environments based on Laser Range-finder for Low-cost Systems
SN - 978-989-758-321-6
AU - Piardi, L.
AU - Lima, J.
AU - Costa, P.
PY - 2018
SP - 341
EP - 348
DO - 10.5220/0006862203510358

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.