A Mobile Robot System for Automatic Floor Marking
Patric Jensfelt, Gunnar Gullstrand and Erik Förell
Abstract:
This paper describes a novel system for automatically marking the
positions of stands for a trade fair or exhibition. The system has
been in operation since August 2003 and has been used for every
exhibition in the three main exhibition halls at the Stockholm
International Fair since then. The system has speeded up the marking
process significantly. What used to be a job for two men over eight
hours now takes one robot monitored by one man four hours to
complete. The operators of the robot are from the same group of people
that previously performed the marking task manually.
Environmental features are much further away than in most other indoor
applications and even many outdoor applications. Experiments show that
many of the problems that are typically associated with the large beam
width of ultra sonic sensors in normal indoor environments manifest
themselves here for the laser because of the long range. Reaching the
required level of accuracy was only possible by proper modelling of
the laser scanner. The system has been evaluated by hand measuring 680
marked points.
To make the integration of the robot system into the overall system as
smooth as possible the robot uses information from the existing
CAD model of the environment in combination with a SICK LMS 291 laser
scanner to localize the robot. This allows the robot to make use of
the same information about changes in the environment as the people
administrating the CAD system.
BibTeX Entry:
@Article{Jensfelt06c,
author = {Patric Jensfelt and Gunnar Gullstrand and Erik F{\"o}rell},
title = {A Mobile Robot System for Automatic Floor Marking},
journal = {Journal of Field Robotics},
year = 2006,
volume = 23,
issue = {6/7},
month = {June/July}
}
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