Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7832127
Rencheng Wang, Guilin Yang, Hongzhen Zhao, Jun Luo
Utilizing plane constraints, a linear kinematic calibration algorithm is proposed for industrial robots based on local frame representation of the POE (Product-of-Exponential) formula. Different from conventional calibration methods which need expensive measurement equipment, the proposed method only needs a laser range finder mounted onto the robot end-effector and several predefined planes fixed to the base. As it suffices to lump all the kinematic errors into the initial poses of the local coordinate frames, the error model derived from the plane constraints is significantly simplified. An iterative least square algorithm is employed to identify the kinematic errors of the robot. Simulation results demonstrate the effectiveness of the proposed calibration method.
{"title":"Robot kinematic calibration with plane constraints based on POE formula","authors":"Rencheng Wang, Guilin Yang, Hongzhen Zhao, Jun Luo","doi":"10.1109/ICINFA.2016.7832127","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832127","url":null,"abstract":"Utilizing plane constraints, a linear kinematic calibration algorithm is proposed for industrial robots based on local frame representation of the POE (Product-of-Exponential) formula. Different from conventional calibration methods which need expensive measurement equipment, the proposed method only needs a laser range finder mounted onto the robot end-effector and several predefined planes fixed to the base. As it suffices to lump all the kinematic errors into the initial poses of the local coordinate frames, the error model derived from the plane constraints is significantly simplified. An iterative least square algorithm is employed to identify the kinematic errors of the robot. Simulation results demonstrate the effectiveness of the proposed calibration method.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114514335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7831943
Hongbo Wang, Zhengcao Liu, Xuefeng He, J. Niu, Z. Lan
A motor controller based on STM32F103 MCU, which is designed for the patient transfer apparatus is presented. Firstly, according to the working principle of the apparatus, the power of the motor is calculated, and the selection of the motor is carried out. According to the chosen motor, the controller's hardware circuit design is carried out. According to the need of apparatus control, the controller adopts the double loop speed control algorithm which is added with the speed forward feed control. The controller has two operation modes, torque mode and speed mode, and the two modes can be switched flexibly during the work process. The controller uses CAN bus communication, makes the network control more easily. A controller parameters debug software programed with QT makes it easy to setup the controller parameters. The software can greatly shorten the time of parameter adjustment. Finally, the related experiment is carried out, and the result indicates that the controller can complete the control task well.
{"title":"Motor controller design of patient transfer apparatus","authors":"Hongbo Wang, Zhengcao Liu, Xuefeng He, J. Niu, Z. Lan","doi":"10.1109/ICINFA.2016.7831943","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831943","url":null,"abstract":"A motor controller based on STM32F103 MCU, which is designed for the patient transfer apparatus is presented. Firstly, according to the working principle of the apparatus, the power of the motor is calculated, and the selection of the motor is carried out. According to the chosen motor, the controller's hardware circuit design is carried out. According to the need of apparatus control, the controller adopts the double loop speed control algorithm which is added with the speed forward feed control. The controller has two operation modes, torque mode and speed mode, and the two modes can be switched flexibly during the work process. The controller uses CAN bus communication, makes the network control more easily. A controller parameters debug software programed with QT makes it easy to setup the controller parameters. The software can greatly shorten the time of parameter adjustment. Finally, the related experiment is carried out, and the result indicates that the controller can complete the control task well.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114520815","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7832084
Yuan Song, Lei Guo, Bin Xing
Sliding mode controller of a two-wheeled robot is designed in this paper. To simplify the design of the controller, the dynamic model is divided into two independent subsystems: balance subsystem and direction subsystem. Cascade sliding mode controller is designed for the balance subsystem, its control purpose is to track the ideal pitch angle and angular velocity and make the angular velocities of the two wheels stable. RBF network self-adaption controller is designed for the direction subsystem, its control purpose is to track the ideal yaw angle and angular velocity. Simulations of the controllers are taken, the results verify that the controllers are effective and robust.
{"title":"Cascade sliding mode and RBF network self-adaption controller design for a two-wheeled robot","authors":"Yuan Song, Lei Guo, Bin Xing","doi":"10.1109/ICINFA.2016.7832084","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832084","url":null,"abstract":"Sliding mode controller of a two-wheeled robot is designed in this paper. To simplify the design of the controller, the dynamic model is divided into two independent subsystems: balance subsystem and direction subsystem. Cascade sliding mode controller is designed for the balance subsystem, its control purpose is to track the ideal pitch angle and angular velocity and make the angular velocities of the two wheels stable. RBF network self-adaption controller is designed for the direction subsystem, its control purpose is to track the ideal yaw angle and angular velocity. Simulations of the controllers are taken, the results verify that the controllers are effective and robust.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126793892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7831816
Xiaojun Wu, Dong Zhou, P. Wen
Traditionally, multi-view stereo (MVS) based 3D reconstruction needs a lot of manual interactions, such as camera calibration, silhouette extraction, texture synthesis, etc. To overcome this disadvantage, we present an automatic 3D reconstruction method based on image sequence. First, we design a new checkerboard with included angle 120°. The camera parameters and the rotational axis can be calibrated simultaneously. Then, an automatic silhouette extraction method is presented based on super pixel and cellular automata, from which the color image sequence can be segmented into binary images. Next, we use MVS based 3D reconstruction method to obtain 3D mesh model with camera parameters, color images and silhouettes. Finally, by using the 3D model, projection matrix and color images, we can synthesize the texture map. A prototype is developed based on Canon SDK and a controller. This system can help user to acquire 3D models without professional knowledge. Experimental results with variety of objects demonstrate the effectiveness of our system.
{"title":"A MVS based automatic 3D model reconstruction system from turntable image sequence","authors":"Xiaojun Wu, Dong Zhou, P. Wen","doi":"10.1109/ICINFA.2016.7831816","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831816","url":null,"abstract":"Traditionally, multi-view stereo (MVS) based 3D reconstruction needs a lot of manual interactions, such as camera calibration, silhouette extraction, texture synthesis, etc. To overcome this disadvantage, we present an automatic 3D reconstruction method based on image sequence. First, we design a new checkerboard with included angle 120°. The camera parameters and the rotational axis can be calibrated simultaneously. Then, an automatic silhouette extraction method is presented based on super pixel and cellular automata, from which the color image sequence can be segmented into binary images. Next, we use MVS based 3D reconstruction method to obtain 3D mesh model with camera parameters, color images and silhouettes. Finally, by using the 3D model, projection matrix and color images, we can synthesize the texture map. A prototype is developed based on Canon SDK and a controller. This system can help user to acquire 3D models without professional knowledge. Experimental results with variety of objects demonstrate the effectiveness of our system.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124193830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7831924
Lifeng Kan, Nan Pan, Zeguang Yi
In this paper, acoustic fault diagnosis method based on frequency domain blind deconvolution was used to separate different sources of error characteristic signal from the mixed acoustic signal collected in microphone. Sliding window short time Fourier transform (STFT) is used to convert time domain convolution mixture model into a instantaneous frequency domain mixture model, and Improved complex fixed-point algorithms is used for the blind separation process of complex signals of the same frequency. Kullback-Leibler (KL) distance is calculated to solve order uncertainty from the blind source separation process, then wavelet analysis is used to reconstructed separated signal details to get the final split signals. Finally, by analyzing the computer simulative signal and experiments for the test rig for rolling bearing, the effectiveness of the algorithm can be verified.
{"title":"Improved frequency domain blind deconvolution algorithm in acoustic fault feature extraction of bearing","authors":"Lifeng Kan, Nan Pan, Zeguang Yi","doi":"10.1109/ICINFA.2016.7831924","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831924","url":null,"abstract":"In this paper, acoustic fault diagnosis method based on frequency domain blind deconvolution was used to separate different sources of error characteristic signal from the mixed acoustic signal collected in microphone. Sliding window short time Fourier transform (STFT) is used to convert time domain convolution mixture model into a instantaneous frequency domain mixture model, and Improved complex fixed-point algorithms is used for the blind separation process of complex signals of the same frequency. Kullback-Leibler (KL) distance is calculated to solve order uncertainty from the blind source separation process, then wavelet analysis is used to reconstructed separated signal details to get the final split signals. Finally, by analyzing the computer simulative signal and experiments for the test rig for rolling bearing, the effectiveness of the algorithm can be verified.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"2012 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121382988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7832129
Hui Li, Feiku Zhang, Jinyong Zhang, N. Zhang, Lei Wang, Xudong Yang
This paper is about the research on the industrial Ethernet communication between industrial PC (IPC) for a spinning machine and OMRON programmable logic controller (PLC) based on FINS protocol and Winsock in VC++. This proposed networked communication has been successfully designed, installed, commissioned and realized. This paper focused on reliable real-time communication transmission and integrated control between PC and PLC for the spinning machine control system. The hardware architecture, system philology and programmed control software were briefly introduced. Windows sockets threading technique and FINS protocol integrated with the Ethernet unit CJ1W-ETN21 in OMRON PLC to realize the real-time and reliable communication transmission were utilized in this paper. The control of spinning machine was achieved by realizing the networked communication between IPC and PLC. Real-time, stability, reliability, safety of the whole system has been proved in practice.
{"title":"Research and realization of a spinning machine control and monitoring system by industrial ethernet communication between IPC and OMRON PLC","authors":"Hui Li, Feiku Zhang, Jinyong Zhang, N. Zhang, Lei Wang, Xudong Yang","doi":"10.1109/ICINFA.2016.7832129","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832129","url":null,"abstract":"This paper is about the research on the industrial Ethernet communication between industrial PC (IPC) for a spinning machine and OMRON programmable logic controller (PLC) based on FINS protocol and Winsock in VC++. This proposed networked communication has been successfully designed, installed, commissioned and realized. This paper focused on reliable real-time communication transmission and integrated control between PC and PLC for the spinning machine control system. The hardware architecture, system philology and programmed control software were briefly introduced. Windows sockets threading technique and FINS protocol integrated with the Ethernet unit CJ1W-ETN21 in OMRON PLC to realize the real-time and reliable communication transmission were utilized in this paper. The control of spinning machine was achieved by realizing the networked communication between IPC and PLC. Real-time, stability, reliability, safety of the whole system has been proved in practice.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114688057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7831800
Martin Kefer, Jihuan Tian
Quality inspection is a task in every production concerned with a product's functionality, as well as its appearance. While dimensional or functional defects can easily be detected automatically, cosmetic defects are still found by skilled personnel only. For high-output productions companies cannot afford to inspect every part for its flawlessness, yet the ever growing demand for impeccable products asks for novel inspection solutions. We introduce an intelligent robot capable of performing visual quality inspection for geometric defects, but also for defects that fall short of any conventional description. A robot vision system is described that can intelligently analyze component's cosmetic quality along with an implementation scheme introducing the usage of the same. Depending on the object to be inspected and the level of detail, a constant processing time far below 1s can be achieved, allowing the implementation of an economic cosmetic inspection solution. Our intuitive inspection robot is reliable, highly adaptable, and fast, which can address cosmetic quality inspection utilizing an artificial neural network approach, yielding superior results where traditional template-based solutions lack functionality. An implemented case study is presented exhibiting an inspection success rate of 100% for two different scenarios.
{"title":"An intelligent robot for flexible quality inspection","authors":"Martin Kefer, Jihuan Tian","doi":"10.1109/ICINFA.2016.7831800","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831800","url":null,"abstract":"Quality inspection is a task in every production concerned with a product's functionality, as well as its appearance. While dimensional or functional defects can easily be detected automatically, cosmetic defects are still found by skilled personnel only. For high-output productions companies cannot afford to inspect every part for its flawlessness, yet the ever growing demand for impeccable products asks for novel inspection solutions. We introduce an intelligent robot capable of performing visual quality inspection for geometric defects, but also for defects that fall short of any conventional description. A robot vision system is described that can intelligently analyze component's cosmetic quality along with an implementation scheme introducing the usage of the same. Depending on the object to be inspected and the level of detail, a constant processing time far below 1s can be achieved, allowing the implementation of an economic cosmetic inspection solution. Our intuitive inspection robot is reliable, highly adaptable, and fast, which can address cosmetic quality inspection utilizing an artificial neural network approach, yielding superior results where traditional template-based solutions lack functionality. An implemented case study is presented exhibiting an inspection success rate of 100% for two different scenarios.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114743499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the leader-following consensus of multi-agent system in noisy environment under fixed and switching topology is investigated. Based on the optimal regulator, a distributed consensus controller is designed, using the stochastic analysis and algebraic graph theory, a sufficient condition that under which the consensus error (disagreement vector) can be exponentially stable in mean square with the perturbation of noise in environment is obtained. Moreover the result is extended to switching topology case. Numerical examples are provided in this paper to illustrate the effectiveness of the proposed consensus controller.
{"title":"Leader-following consensus of multi-agent system in noisy environment","authors":"Zhifeng Sun, Menglu Zhang, Lingxia Lu, Junmin Peng","doi":"10.1109/ICINFA.2016.7831917","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831917","url":null,"abstract":"In this paper, the leader-following consensus of multi-agent system in noisy environment under fixed and switching topology is investigated. Based on the optimal regulator, a distributed consensus controller is designed, using the stochastic analysis and algebraic graph theory, a sufficient condition that under which the consensus error (disagreement vector) can be exponentially stable in mean square with the perturbation of noise in environment is obtained. Moreover the result is extended to switching topology case. Numerical examples are provided in this paper to illustrate the effectiveness of the proposed consensus controller.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114815913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, we present an adaptive servo controller for the voice coil motor (VCM) driven pointing mirror with parameters uncertainties. Based on the mathematical model of the VCM, the design procedure is divided into three parts, namely the position loop, angular velocity loop and the current loop, an adaptive backstepping method is applied for the controller design against the parameter uncertainties, the design procedure utilizes the filters to generate the command control variables and their derivatives which can avoid the complexity caused by the needs for computing the derivatives of virtual control variables at each iterative step, especially when the order of the system goes high, the computing burden will increase explosively. So as to reduce the filtered error, a compensation loop is constructed based on the tracking error dynamic. The parameter adaption laws and robust terms are designed through Lyapunov stability analysis to guarantee asymptotic stability for the close-loop. Finally, the simulation results are presented to illustrate the effectiveness of the proposed control scheme.
{"title":"Servo control of VCM driven pointing mirror based on command filtered adaptive backstepping","authors":"Ziyin Chen, Zhe Lin, Chunyu Yue, Fei Yu, Heming Jia","doi":"10.1109/ICINFA.2016.7831975","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831975","url":null,"abstract":"In this paper, we present an adaptive servo controller for the voice coil motor (VCM) driven pointing mirror with parameters uncertainties. Based on the mathematical model of the VCM, the design procedure is divided into three parts, namely the position loop, angular velocity loop and the current loop, an adaptive backstepping method is applied for the controller design against the parameter uncertainties, the design procedure utilizes the filters to generate the command control variables and their derivatives which can avoid the complexity caused by the needs for computing the derivatives of virtual control variables at each iterative step, especially when the order of the system goes high, the computing burden will increase explosively. So as to reduce the filtered error, a compensation loop is constructed based on the tracking error dynamic. The parameter adaption laws and robust terms are designed through Lyapunov stability analysis to guarantee asymptotic stability for the close-loop. Finally, the simulation results are presented to illustrate the effectiveness of the proposed control scheme.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127709595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-08-01DOI: 10.1109/ICINFA.2016.7831872
Qian Zou, Xin Wang
In this paper, we present a method of sensor data fusion to solve some problems in the robot navigation process. As we all known, 2D range laser has the advantage of high precision, long distance and obstacle avoidance. It is very common to solve the problem of Simultaneous Localization and Mapping (SLAM) during navigation by using lasers. However, if we use the laser-only method to build our environment map, some wrong matching scan of lasers may be occurred in the scenarios with symmetric structure like offices or geometrical simplicity like long and narrow corridors. Especially, when we detect a wrong loop closure with a graph-based SLAM algorithm, the map we build may have a destructive result. In this paper, a type of 2D code, which can provide unique identification of a place, is used to overcome this problem. On the other hand, 2D codes can not only provide a robot with initial pose estimation, but also adjust the robot pose for largely cumulative errors of other sensors. In our experiments, we tested the localization accuracy of 2D code, and then built the 2D occupancy grid map (including 2D codes) in two real environments on two different robots respectively. The results show the effectiveness of our modified based-graph SLAM algorithm.
{"title":"A robot navigation method based on laser and 2D code","authors":"Qian Zou, Xin Wang","doi":"10.1109/ICINFA.2016.7831872","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831872","url":null,"abstract":"In this paper, we present a method of sensor data fusion to solve some problems in the robot navigation process. As we all known, 2D range laser has the advantage of high precision, long distance and obstacle avoidance. It is very common to solve the problem of Simultaneous Localization and Mapping (SLAM) during navigation by using lasers. However, if we use the laser-only method to build our environment map, some wrong matching scan of lasers may be occurred in the scenarios with symmetric structure like offices or geometrical simplicity like long and narrow corridors. Especially, when we detect a wrong loop closure with a graph-based SLAM algorithm, the map we build may have a destructive result. In this paper, a type of 2D code, which can provide unique identification of a place, is used to overcome this problem. On the other hand, 2D codes can not only provide a robot with initial pose estimation, but also adjust the robot pose for largely cumulative errors of other sensors. In our experiments, we tested the localization accuracy of 2D code, and then built the 2D occupancy grid map (including 2D codes) in two real environments on two different robots respectively. The results show the effectiveness of our modified based-graph SLAM algorithm.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126368565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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