High accuracy mobile robot positioning using external large volume metrology instruments

Abstract

A method of accurately controlling the position of a mobile robot using an external large volume metrology (LVM) instrument is presented in this article. By utilising an LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the laser tracker, a very simple navigation algorithm, and a low cost robot, 5mm repeatability was achieved over a volume of 30m radius. A surface digitisation scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. Further, iGPS guidance of a small KUKA omni-directional robot has been demonstrated, and a full scale prototype system is being developed in cooperation with KUKA Robotics, UK. © 2011 Taylor & Francis.

Publication DOI: https://doi.org/10.1080/0951192X.2011.554868
Divisions: Aston University (General)
Additional Information: This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Computer Integrated Manufacturing on 16/3/2011, available online: http://www.tandfonline.com/10.1080/0951192X.2011.554868
Uncontrolled Keywords: automated guided vehicle,iGPS,laser tracker,metrology,Computer Science Applications,Aerospace Engineering,Electrical and Electronic Engineering,Mechanical Engineering
Full Text Link: http://www.tand ... 92X.2011.554868
Related URLs: http://www.scop ... tnerID=8YFLogxK (Scopus URL)
Published Date: 2011
Authors: Wang, Z.
Liang, M.
Maropoulos, P.G. ( 0000-0001-6525-6216)

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Version: Accepted Version


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