Localization of Mobile Robot Aided for Large-Scale Construction Based on Optimized Artificial Landmark Map in Ongoing Scene  

作　　者：Zhen Xu Shuai Guo Tao Song Yuwen Li Lingdong Zeng 

机构地区：[1]Shanghai Key Laboratory of IntelligentManufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai University,Shanghai,200444,China [2]National Demonstration Center for Experimental Engineering Training Education,Shanghai University,Shanghai,200444,China

出　　处：《Computer Modeling in Engineering & Sciences》2022年第3期1853-1882,共30页工程与科学中的计算机建模（英文）

基　　金：This research was supported by National Natural Science Foundation of China(Nos.U1913603,61803251,51775322);National Key Research and Development Program of China(No.2019YFB1310003).

摘　　要：The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the construction scene.Although many available studies on the localization have been conducted,only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes.To realize the accurate localization of mobile robot in designated stations,we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map.Then,the performances of localization for mobile robot based on the original and optimized map are compared and evaluated.Finally,experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21%compared to that of the original map.

关 键 词：Large-scale construction artificial landmark map LOCALIZATION mobile robot non-linear optimization 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]