Robotic Precise Positioning and Interaction Based on Laser Radar

Abstract

In this paper, ways of robotic precise positioning and mutual positioning between robots by using the laser radar are proposed. When robots locate, they obtain the radar data that are processed by the following steps. First, median filtering is used to reduce the errors in the radar raw data. Second, the data are split into polygonal chains based on a set threshold. Third, the data of laser radar are processed cyclically, and the distance between the value of each point and the straight lines is calculated, thereby the polygonal chains are dividing into line segments. Fourth, the straight line is fitted to obtain the slope, the starting point, and the ending point of the line. Fifth, the specific data are filtered, so that the straight line that meets the requirement is selected as the required X-Y coordinate system. Finally, the coordinate system is transformed and valid data are obtained. After establishing a robotic actual system, we conducted experiments to verify the accuracy of the algorithm. The error of positioning in the X-Y coordinate system does not exceed +/-3mm.