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
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.