Abstract
In this work (This work is part of the BugWright2 project. This project is supported by the European Commission under grant agreement 871260 - BugWright2.), we propose a method based on a particle filter for the localization of an industrial robot on a large metal structure that leverages first-order reflections of acoustic waves on a metal plate edges. In our approach, the acoustic measurements are acquired in a (pseudo) pulse-echo mode using a co-localized emitter/receiver pair of piezoelectric transducers, and we assume a known size of the metal plate. To validate the method, the acquisition of acoustic data is made manually, but it is aimed to be performed by a robotic platform soon. The results demonstrate that with our approach, it is possible to recover the robot localization to a precision of a few millimeters.
Keywords
- Localization
- Ultrasonic Guided Waves
- Particle filtering
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Ouabi, OL., Pomarede, P., Geist, M., Declercq, N.F., Pradalier, C. (2021). Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves. In: Siciliano, B., Laschi, C., Khatib, O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_31
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DOI: https://doi.org/10.1007/978-3-030-71151-1_31
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