DocumentCode :
3017775
Title :
Localization in a wide range of industrial environments using relative 3D ceiling features
Author :
Lecking, Daniel ; Wulf, Oliver ; Wagner, Bernardo
Author_Institution :
Real Time Syst. Group, Leibniz Univ. Hannover, Hannover
fYear :
2008
fDate :
15-18 Sept. 2008
Firstpage :
333
Lastpage :
337
Abstract :
This paper presents a localization system for mobile robots that are able to navigate autonomously in industrial environments like factory and exhibition halls. Previous approaches show that ceiling structures like beams, pipes and lighting installation are well-suited for self-localization in large halls. With this paper we describe how to use ceiling structures, measured with a 3D laser range sensor, as natural landmarks. Due to the novel relative representation of 3D ceiling features this method can be used in a wide range of industrial halls with sloped, stepped and even curved ceiling structures. In addition to this new algorithm the paper presents experimental results with an autonomous fork lift working without the need for artificial landmarks or extra infrastructure.
Keywords :
fork lift trucks; industrial robots; mobile robots; position control; autonomous fork lift; industrial environments; localization system; mobile robots; relative 3D ceiling features; Cameras; Data mining; Indoor environments; Laser beams; Laser modes; Monte Carlo methods; Navigation; Production facilities; Real time systems; Systems engineering and theory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Emerging Technologies and Factory Automation, 2008. ETFA 2008. IEEE International Conference on
Conference_Location :
Hamburg
Print_ISBN :
978-1-4244-1505-2
Electronic_ISBN :
978-1-4244-1506-9
Type :
conf
DOI :
10.1109/ETFA.2008.4638415
Filename :
4638415
Link To Document :
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