Design Of Land Marks Based Mobile Stage Laser Localization Systems

With the improvement of people's material and cultural living standards,the demand for artistic performance has increased rapidly and the importance of cultural facilities construction has become increasingly prominent,which has placed higher demands on the technological development of theaters and other performing arts venues.Therefore,the mobile stage technique came into being.One of the most important techniques in the mobile stage is the indoor localization,which providing important position information for the motion control of the mobile stage.This thesis aims at solving the indoor localization problem for the mobile stage,and an embedded mobile stage localization system based on 2D laser radar technology is designed.The hardware of this localization system consists of a laser radar,an embedded control board,a wireless router and a motion control unit.The software of this location system includes embedded software and monitoring software which are used to achieve the functions of real-time positioning and monitoring display,respectively.For the identification of artificial road signs,the detection of both reflection intensity and road sign shape is used to improve the recognition accuracy.For the pose calculation of stage's initial state,there are two steps to achieve it.Firstly,the triangular matching algorithm will be used to match the scanned road signs with the road signs in the map.Then the initial pose of the moving stage will be calculated by the least square method.During the movement of mobile stage,the distributed extended Kalman filter is applied to realize the real-time positioning by integrating multiple landmark information and odometer information.The experimental verification of the designed laser localization system is carried out on the designed mobile stage.The experimental results show that the laser location system can achieve a high localization precision in both the stationary and moving state.Moreover,it has little influence of the stage light and can meet the needs of the stage application scenario.Finally,the work of this thesis is summarized,and the problems in the algorithm and the direction of improvement are discussed.