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Hybrid Localization Solution for Autonomous Mobile Robots in Complex Environments

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 976))

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Abstract

Mobile robot platforms capable of operating safely and accurately in dynamic environments can have a multitude of applications, ranging from simple delivery tasks to advanced assembly operations. These abilities rely heavily on a robust navigation stack, which requires stable and accurate pose estimations within the environment.

The wide range of AMR’s applications and the characteristics of multiple industrial environments (indoor and outdoor) have led to the development of a flexible and robust robot software architecture that allows the fusion of different data sensors in real time. In this way, and in terms of localization, AMRs have greater precision when it comes to uncontrolled and unstructured environments. These complex environments feature a variety of dynamic and unpredictable elements, such as variable layouts, limited visibility, unstructured spaces, and uncertain terrain.

This paper presents a multi-localization system for industrial mobile robots in complex and dynamic industrial scenarios, based on different localization technologies and methods that can interact together and simultaneously.

This work is co-financed by Component 5 - Capitalization and Business Innovation, integrated in the Resilience Dimension of the Recovery and Resilience Plan within the scope of the Recovery and Resilience Mechanism (MRR) of the European Union (EU), framed in the Next Generation EU, for the period 2021–2026, within project GreenAuto, with reference 54.

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Authors and Affiliations

  1. INESC TEC, Rua Dr. Roberto Frias, 4200 - 465, Porto, Portugal

    Paulo M. Rebelo, António Valente, Paulo Moura Oliveira, Héber Sobreira & Pedro Costa

  2. Universidade de Trás-os-Montes e Alto Douro (UTAD), Quinta de Prados, 5000-801, Vila Real, Portugal

    Paulo M. Rebelo, António Valente & Paulo Moura Oliveira

  3. Faculdade de Engenharia da Universidade do Porto, Rua Dr. Roberto Frias, Porto, Portugal

    Pedro Costa

Authors
  1. Paulo M. Rebelo
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  2. António Valente
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  3. Paulo Moura Oliveira
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  4. Héber Sobreira
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  5. Pedro Costa
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Corresponding author

Correspondence to Paulo M. Rebelo .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politecnica de Madrid, Madrid, Spain

    Manuel Ferre

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Rebelo, P.M., Valente, A., Oliveira, P.M., Sobreira, H., Costa, P. (2024). Hybrid Localization Solution for Autonomous Mobile Robots in Complex Environments. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_38

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