Publications / 2019 Proceedings of the 36th ISARC, Banff, Alberta, Canada

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Selen Ercan, Sandro Meier, Fabio Gramazio and Matthias Kohler
Pages 929-936 (2019 Proceedings of the 36th ISARC, Banff, Alberta, Canada, ISBN 978-952-69524-0-6)
Abstract:

The localization of a robot is a crucial part of any task that involves the mobile manipulation of objects. The precise repositioning of a mobile robot within the workspace is particularly important for on-site construction in situations where the operating area is much larger than the reach of the robot arm. This research presents a localization method utilizing a generic surveying and measurement device – a robotic total station. The localization of the mobile robot in reference to the total station is investigated through the positioning of a reflector prism, mounted on the robot’s end-effector, at different known locations in robot’s coordinate frame. Through this localization method, the opportunity to remove the reliance on fixed reference points is tested in a large-scale outdoor experiment, which would alleviate the need for a full enclosure around the mobile robot to help constrain its pose.

Keywords: On-site construction; Localization; External measurement systems