Robust and accurate localization system for mobile manipulators in cluttered environments

摘要

Autonomous robots play a pivotal role in improving productivity and reducing operational costs. They excel at both precision and speed in repetitive jobs and can cooperate with humans in complex tasks within dynamic environments. Self-localization is critical to any robot that must navigate or manipulate the environment. To solve this problem, a modular localization system suitable for mobile manipulators was developed. By using LIDAR data the proposed system is capable of achieving less than a centimeter in translation error and less than a degree in rotation error while requiring only 5 to 25 milliseconds of processing time. The system was tested in two different robot platforms at different velocities and in several cluttered and dynamic environments. It demonstrated high accuracy while performing pose tracking and high reliability when estimating the initial pose using feature matching. No artificial landmarks are required and it is able to adjust its operation rate in order to use very few hardware resources when a mobile robot is not moving.