Mobile Robot Pose Tracking for Performance Analysis

摘要

The NIST Construction Metrology and Automation Group, in cooperation with the NIST Intelligent Systems Division, is researching robotic structural steel placement as part of a project to develop an Automated Steel Construction Testbed. The initial phase of this project centers on tracking a six degree-of- freedom robotic crane with a laser-based site measurement system to provide position feedback for autonomous steel assembly. Follow-on efforts will use a high-resolution LADAR scanner co-registered with the site measurement system to provide world model data. The combination of these two advanced metrology systems provides an opportunity for testing performance characteristics of mobile intelligent systems.