Development of a Ground Truth Localization System for Wheeled Mobile Robots in Indoor Environments based on Laser Range-finder for Low-cost Systems

Luis Piardi, José Lima, Paulo Costa

2018

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.

Paper Citation

in Harvard Style

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: 10.5220/0006862203410348

in Bibtex Style

@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={10.5220/0006862203410348},
isbn={978-989-758-321-6},
}

in EndNote Style

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 - 10.5220/0006862203410348