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An Improved Trilateral Localization Technique Fusing Extended Kalman Filter for Mobile Construction Robot

Autor(en): ORCID




Medium: Fachartikel
Sprache(n): Englisch
Veröffentlicht in: Buildings, , n. 4, v. 14
Seite(n): 1026
DOI: 10.3390/buildings14041026
Abstrakt:

Semi-open and chaotic environments of building sites are considered primary challenges for the localization of mobile construction robots. To mitigate environmental limitations, an improved trilateral localization technique based on artificial landmarks fusing the extended Kalman filters (EKFs) is proposed in this paper. The reflective intensity of the onboard laser is employed to identify artificial landmarks arranged in the ongoing construction environment. A trilateral positioning algorithm is then adopted and evaluated based on artificial landmarks. Multi-sensor fusion, combined with the EKF, is included to improve the positioning accuracy and reliability of the robot in complex conditions. We constructed validation scenarios in the Gazebo simulation environment to verify the required localization functionality. Concurrently, we established simulated testing environments in real-world settings, where the practicality of the proposed technique was validated through the fitting of ideal and actual localization trajectories. The effectiveness of the proposed technique was corroborated through comparative experimental results.

Copyright: © 2024 by the authors; licensee MDPI, Basel, Switzerland.
Lizenz:

Dieses Werk wurde unter der Creative-Commons-Lizenz Namensnennung 4.0 International (CC-BY 4.0) veröffentlicht und darf unter den Lizenzbedinungen vervielfältigt, verbreitet, öffentlich zugänglich gemacht, sowie abgewandelt und bearbeitet werden. Dabei muss der Urheber bzw. Rechteinhaber genannt und die Lizenzbedingungen eingehalten werden.

  • Über diese
    Datenseite
  • Reference-ID
    10773455
  • Veröffentlicht am:
    29.04.2024
  • Geändert am:
    05.06.2024
 
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