A low-cost, installation convenient, continuously rnaccurate and multi-sensor based localization system rnfor a mobile robot rnwas introduced. A gyroscope based dead reckoning rnsystem was firstly employed to provide momentary but rnreal-time heading and rnposition information for the robot. Then, a novel rnscanning laser and ultrasonic absolute positioning rnsystem was developed to rneliminate the accumulative error in dead reckoned rnrobot heading and position. The robot has a fixed rnbase station where the robot can rnrecharge itself. A scanning laser and an ultrasonic rntransmitter were mounted on the base station to rnmeasure the robot's angle and rndistance relative to it. Another scanning laser was rnmounted on the robot to measure the base station's rnrelative angle in the robot's rnframe. The base station and the robot were wirelessly rnconnected through radio frequency (R.F). This method rnwas implemented on a rnlawn robot. Experimental results show that the lawn rnrobot can work continuously for a long period of time rnwithin thirty meters away rnfrom the base station without losing its position.
展开▼
