Photoelectric scanning-based resection method for mobile robot localization

Jiarui Lin, Zhiyuan Niu, Yongjie Ren, Linghui Yang, Zheng Wang, Patrick Keogh, Jigui Zhu

Research output: Contribution to journalArticlepeer-review

4 Citations (SciVal)


Indoor localization is a key enabling technology for mobile robot navigation in industrial manufacturing. As a distributed metrology system based on multi-station intersection measurement, the workshop measurement positioning system (wMPS) is gaining increasing attention in mobile robot localization. In this paper, a new, to the best of our knowledge, wMPS-based resection localization method is proposed using a single onmidirectional transmitter mounted on a mobile robot with scanning photoelectric receivers distributed in the work space. Compared to the traditional method that requires multiple stationary transmitters, our new method provides higher flexibility and cost-effectiveness. The position and orientation of the mobile robot are then iteratively optimized with respect to the constraint equations. In order to obtain the optimal solution rapidly, two methods of initial value determination are presented for different numbers of effective receivers. The propagation of the localization uncertainty is also investigated using Monte-Carlo simulations. Moreover, two experiments of automated guided vehicle localization are conducted, and the results demonstrate the high accuracy of the proposed method.

Original languageEnglish
Pages (from-to)5020-5030
Number of pages11
JournalApplied Optics
Issue number17
Early online date11 May 2021
Publication statusPublished - 10 Jun 2021

Bibliographical note

Funding Information:
Funding. National Natural Science Foundation of China (51835007, 51775380, 51721003); Engineering and Physical Sciences Research Council (EP/P006930/1).

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Engineering (miscellaneous)
  • Electrical and Electronic Engineering


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