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