Automated Localization of a Mobile Construction Robot with an External Measurement Device

Abstract

The localization of a robot is a crucial part of any task that involves the mobile manipulation of objects. The precise repositioning of a mobile robot within the workspace is particularly important for on-site construction in situations where the operating area is much larger than the reach of the robot arm. This research presents a localization method utilizing a generic surveying and measurement device – a robotic total station.¹ The localization of the mobile robot in reference to the total station is investigated through the positioning of a reflector prism, mounted on the robot’s end-effector, at different known locations in robot’s coordinate frame. Through this localization method, the opportunity to remove the reliance on fixed reference points is tested in a large-scale outdoor experiment, which would alleviate the need for a full enclosure around the mobile robot to help constrain its pose.