Localization and tracking control for mobile welding robot

The purpose of this paper is to design the localization and tracking algorithms for our mobile welding robot to carry out the large steel structure welding operations in industrial environment.

Extended Kalman filter, considering the bicycle-modeled robot, is adopted in the localization algorithm. The position and orientation of our mobile welding robot is estimated using the feedback of the laser sensor and the robot motion commands history. A backstepping variable is involved in the tracking algorithm. By introducing a specifically selected Lyapunov function, we proved the tracking algorithm using Barbalat Lemma, which leads the errors of estimated robot states to converge to zero.

The experiments show that the proposed localization method is fast and accurate and the tracking algorithm is robust to track straight lines, circles and other typical industrial curve shapes. The proposed localization and tracking algorithm could be used, but not limited to the mobile welding.

Localization problem which is neglected in previous research is very important in mobile welding. The proposed localization algorithm could estimate the robot states timely and accurately, and no additional sensors are needed. Furthermore, using the estimated robot states, we proposed and proved a tracking algorithm for bicycle-modeled mobile robots which could be used in welding as well as other industrial operation scenarios.