Mobile Robot Localization Based on a Security Laser: An Industry Scene Implementation

  • Héber SobreiraEmail author
  • A. Paulo Moreira
  • Paulo Gomes Costa
  • José Lima
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 418)


Usually the Industrial Automatic Guide Vehicles (AGVs) have two kind of lasers. One for navigation on the top and others for obstacle detection (security lasers). Recently, security lasers extended its output data with obstacle distance (contours) and reflectivity, that allows the development of a novel localization system based on a security laser. This paper addresses a localization system that avoids a dedicated laser scanner reducing the implementations cost and robot size. Also, performs a tracking system with precision and robustness that can operate AVGs in an industrial environment. Artificial beacons detection algorithm combined with a Kalman filter and outliers rejection method increase the robustness and precision of the developed system. A comparison between the presented approach and a commercial localization system for industry is presented. Finally, the proposed algorithms were tested in an industrial application under realistic working conditions.


AGV Mobile robotic Localization Artificial beacons Kalman filter Outliers rejection Security laser 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Héber Sobreira
    • 1
    • 2
    Email author
  • A. Paulo Moreira
    • 1
    • 2
  • Paulo Gomes Costa
    • 1
    • 2
  • José Lima
    • 1
  1. 1.NESC TEC (formerly INESC PORTO) - Robotics and Intelligent SystemsPortoPortugal
  2. 2.Faculty of Engineering of University of PortoPortoPortugal

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