A New Positioning Method for Indoor Laser Navigation on Under-Determined Condition

An Improved Positioning Accuracy Method of a Robot Based on Particle Filter

“…Figure 5a and b, after the prediction step [18], the ref ector's position measured by the laser navigation, is converted to a Cartesian coordinate system at the particle position to correct the system state. actual ref ector, the more likely the real vehicle robot is located on the particle as it approaches zero.…”

“…Figure5aand b, after the prediction step[18], the ref ector's position measured by the laser navigation, is converted to a Cartesian coordinate system at the particle position to correct the system state. The distance difference as ref ector 1, ref ector 2, and ref ector 3, from the known ref ectors and LRF, which usually match the detected and measured ref ector marks within its working environment, is calculated.In Fig.5b, the gray that shows the measured ref ector and the black circle represent the actual ref ector's information.…”

LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance

“…The specific steps are as follows: The first step is calculating all the triangles. The set of triangles in coordinate system XOY of the first frame is shown as Tri = {hij, hik, hil, hig, hjk, hjl, hjg, hkl, hkg, hlg, ijk, ijl, ijg, ikl, ikg, ilg, jkl, jkg, jlg, klg} (15) Due to measurement error, three theoretically collinear reflectors such as BCD and EFG can still form a triangle. The set of triangles in coordinate system X O Y of the second frame is shown as: Tri = {bcd, bce, bc f , bca, bde, bd f , bda, be f , bea, b f a, cde, cd f , cda, ce f , cea, c f a, de f , dea, d f a, e f a} (16) Every triangle symbol in these two sets stores the lengths of the three lines formed by the three reflectors.…”

“…In actuality, the average error is less than 0.0483 m. In summary, the proposed method is more stable and robust than the traditional reflector positioning system and ICP algorithm, and is cheaper. The precision of reflector positioning system proposed by Xu et al [15] is better than 0.08 m with the AGV route known in advance. The positioning method proposed in this paper is more precise and has an error less than 0.0483 m without the limit of knowing the route in advance.…”

“…Regarding the restriction on the layout of artificial landmarks, Xu et al [15] proposed a new scheme to calculate the correct position when the number of detected reflectors is less than three. The paper discussed three cases.…”