Author:
Xu Zhen,Guo Shuai,Song Tao,Zeng Lingdong
Abstract
Aiming at the localization problem of mobile robot in construction scenes, a hybrid localization algorithm with the adaptive weights is proposed, which can effectively improve the robust localization of mobile robot. Firstly, two indicators of localization accuracy and calculation efficiency are set to reflect the robustness of localization. Secondly, the construction scene is defined as an ongoing scene, and the robust localization of mobile robot is achieved by using the measurement of artificial landmarks and matching based on generated features. Finally, the experimental results show that the accuracy of localization is up to 8.22 mm and the most matching efficiency is controlled within 0.027 s. The hybrid localization algorithm that based on adaptive weights can realize a good robustness for tasks such as autonomous navigation and path planning in construction scenes.
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Reference38 articles.
1. Are Autonomous Mobile Robots Able to Take Over Construction? A Review;Ardiny;Int. J. Robot. Theor. Appl.,2015
2. Additive construction: State-of-the-art, challenges and opportunities
3. Mobile robotic brickwork—Automation of a discrete robotic fabrication process using an autonomous mobile robot;Dörfler,2016
4. Robotics and Automation in Construction [Guest Editors]
Cited by
8 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献