Mobile Robot Localization in a Manufacturing Environment

Abstract

This paper deals with the integration of Intelligent Mobile Robots (IMR) into the advanced manufacturing paradigm known as Intelligent Manufacturing Systems (IMS) and analyses some of the most important issues facing this advanced integration. The paper introduces a localization problem of mobile robots and provides a simulation procedure carried out in Matlab® environment. The presented software application (the source code) provides a chance for modelling a localization problem on the real shop floor. Finally, the first step towards an experimental setup using the LEGO® MindstormsTM NXT robotic kit is presented. Although this approach based on simulation may be seen as neglecting essential issues by introducing assumptions common in real problem modelling, it still provides a chance for proper development of the model.