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Autonomous Localization & Navigation using 2D Laser Scanners

This paper discusses the challenges and solutions for autonomous navigation and localization of a robotic painting system, specifically the Omnimove platform. Given the obstacles presented by the painting environment, such as heavy paint concentration affecting visibility, traditional methods like cameras or GPS are inadequate. We propose the use of 2D laser scanners for their cost-effectiveness, reliability, and accuracy in mapping and navigating complex spaces. The study includes previous research, our methodology, testing results, and potential future improvements in painting automation.

june
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Autonomous Localization & Navigation using 2D Laser Scanners

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  1. Autonomous Localization & Navigation using 2D Laser Scanners Animesh Garg & ManoharPaluri

  2. Outline • Problem Description • Motivation • Previous research • Proposed approach • Details of our approach • Testing • Results • Conclusion

  3. Why an autonomous painting system is required?

  4. Introduction The Omnimove is a huge platform for moving very heavy weights around. Herein it would hold the robotic arm which will be used to carry out the painting job. During spray painting process, the environment has a very large concentration of paint particles decreasing visibility. And the paint settles on surfaces, it rules out markers based solution.

  5. Potential Solutions • Cameras • GPS • INS • Sonar • Laser • Northstar • Vicon • And more…

  6. Our solution • Laser Scanners • Cost effective, Reliable, Accurate, known solutions! • Paint Hangar constraints Sample Mount

  7. Past Work

  8. Line Fitting

  9. Block Diagram

  10. Rigid Transformation • Scan1 Scan2 • Combined Scan

  11. Hough Transform

  12. Non-Uniform Density

  13. Weighted Hough Transform

  14. Find Maximas

  15. Total Least Squares

  16. Line Fitting

  17. Localization

  18. Obstacle Map

  19. Obstacle Detection

  20. Planning - RRT

  21. Navigation

  22. Future Scope

  23. Thank You

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