High accuracy mobile robot positioning using an external large volume metrology instrument

Reference:

Wang, Z., Liang, M. and Maropoulos, P. G., 2010. High accuracy mobile robot positioning using an external large volume metrology instrument. In: Huang, G. Q., Mak, K. L. and Maropoulos, P. G., eds. Proceedings of the 6th CIRP-Sponsored International Conference on Digital Enterprise Technology. Vol. 66. Springer-Verlag, pp. 621-630. (Advances in Intelligent and Soft Computing)

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Abstract

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as the laser tracker 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 digitization scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes.

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