摘要
In this paper, an improved tracking and local-ization algorithm of an omni-directional mobile industrialrobot is proposed to meet the high positional accuracyrequirement, improve the robot＇s repeatability positioningprecision in the traditional trilateral algorithm, and solvethe problem of pose lost in the moving process. Lasersensors are used to identify the reflectors, and by associ-ating the reflectors identified at a particular time with thereflectors at a previous time, an optimal triangular posi-tioning method is applied to realize the positioning andtracking of the robot. The experimental results show thatpositioning accuracy can be satisfied, and the repeatabilityand anti-jamming ability of the omni-directional mobileindustrial robot will be greatly improved via this algorithm.
