High accuracy mobile robot positioning using external large volume metrology instruments

Abstract

A method of accurately controlling the position of a mobile robot using an external large volume metrology (LVM) instrument is presented in this article. By utilising an LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the laser tracker, a very simple navigation algorithm, and a low cost robot, 5 mm repeatability was achieved over a volume of 30 m radius. A surface digitisation scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. Further, iGPS guidance of a small KUKA omni-directional robot has been demonstrated, and a full scale prototype system is being developed in cooperation with KUKA Robotics, UK.

Keywords:

• automated guided vehicle
• metrology
• laser tracker
• iGPS

Acknowledgements

This research has been carried out as part of the IdMRC at the Department of Mechanical Engineering of the University of Bath, under EPSRC Grant Nos. EP/E002617/1 and EP/E00184X/1. The funding of EPSRC and the support of our industrial partners is gratefully acknowledged. This article has been presented in the DET2009 conference held at the University of Hong Kong during 14–16 December 2009 and included in the conference proceedings published by Springer.