The 5th International Symposium on Robotics in Construction June 6-8,1988 Tokyo, Japan A POSITION AND HEADING MEASUREMENT SYSTEM FOR ROBOTS

This paper describes the development of a position and heading measurement system using for moving robots ( we call "LASER NAVIGATOR " ) which is composed of a scanning laser unit (SLU) mounted on a robot and three or more corner-cubes ( retro-reflectors ) fixed on the ground . A coordinate system and corner-cubes are arbitrarily set on a horizontal plane , and their coordinates have already measured by other survey . SLU measures three angles to each CC from a robot heading and computes the position and the heading of the robot on the coordinate system . An experimental model ( LN-10 ) has been manufactured evaluated and , fundamental production data model for a production model were obtained ( LN-11 ) was produced and tested . . This It is time , a confirmed that LN11 satisfies user's requirements ; (1) Distance range 50 m maximum (2) Distance accuracy : + 5 cm maximum ( 3) Heading range : 360 deg. (4) Heading accuracy : + 0.5 deg. maximum This navigation system applies to a floor-finishing robot used in a building under construction .