Location and Adjustment Technology for Mobile Robot Based on Artificial Landmark
LI Junjie1 , HUANG Xiang1 , LI Shuanggao1 , ZENG Qi1 , ZHU Kui2
( 1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China; 2. Shenzhen JT Automation Equipment Co., Ltd., Shenzhen 518126, China )
Abstract：About measuring large-scale components of aircraft, there is a problem that the mobile robot cannot reach the station accurately when measuring equipment transfers automatically. Therefore, this paper puts forward the mobile robot positioning and adjustment based on artificial landmarks to realize the precise positioning during the transfer. Next, this paper designs an artificial landmark using the laser tracker which can obtain coordinates of the landmark in the global coordinate system. Besides, this paper introduces the coding method, the solution method of the pose of the landmark and the posture adjustment strategy of the mobile robot. Finally, based on experiments, this paper comes to a conclusion that the position and angle errors measured by artificial landmarks are small, and the accuracy requirement of the automatic transfer station can be met using mobile robot positioning and artificial landmarks.
李俊杰,黄翔,李泷杲,曾琪,主逵. 基于人工地标的移动机器人定位与调整技术[J]. 航空制造技术, 2020, 63(5): 80-86.
LI Junjie,HUANG Xiang,LI Shuanggao,ZENG Qi,ZHU Kui. Location and Adjustment Technology for Mobile Robot Based on Artificial Landmark. Aeronautical Manufacturing Technology, 2020, 63(5): 80-86.
2020, 
