Laser scanner based real-time trajectory measurement system for mobile robot

A kind of laser scanners based real-time trajectory measurement system for mobile robot is proposed. The system consists of four main components: laser scanner, data acquisition computer, wireless communication network and data process software. Two laser scanners measure the sign pole of the robot in different levels to localize the robot, and the measurement data are transferred to one computer and fused after position identifying and coordinate matching. The measurement stochastic error is eliminated by Kalman filter, and the trajectory of mobile robot is painted. The results of experiments show that the measurement system can achieve the measurement precision and object resolving power about centimeters in a large measurement range, and that provides a good experiment measurement platform for design of mobile robot and robot navigation control research fields.