The Indoor Automatic Guided Vehicle with an IR Positioning and Low-Cost Inertial Navigation System

Ming Feng Lu; Bang Cheng Liu; Jian Ping Wu; Fu Kuo Hsu; Wen Tzeng Huang

doi:10.4028/www.scientific.net/AMM.300-301.494

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 300-301The Indoor Automatic Guided Vehicle with an IR...

The Indoor Automatic Guided Vehicle with an IR Positioning and Low-Cost Inertial Navigation System

Abstract:

In this study an indoor automatic guided vehicle (AGV) which is not a line-following type is constructed. Low-cost inertial navigation system (INS) and indoor positioning system (IPS) are proposed to replace the high-cost laser navigation system. These AGVs are guided by their own INS almost all the time of running in our system. The IPS constructed by infrareds is used to calibrate the accumulative errors of the inertial system after a specific time interval. Testing results show deviation is about 5% after long time and long distance of movement. This research proves the stability of this system which allows AGVs to work in warehouses by low-cost INS and IPS.

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Periodical:

Applied Mechanics and Materials (Volumes 300-301)

Pages:

494-499

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.300-301.494

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Online since:

February 2013

Authors:

Ming Feng Lu, Bang Cheng Liu, Jian Ping Wu, Fu Kuo Hsu, Wen Tzeng Huang

Keywords:

Automatic Guided Vehicle (AGV), Indoor Positioning System (IPS), Inertial Navigation System (INS), Infrared Positioning, Optical Encoder

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References

[1] Jen Chieh Huang, Integrate Research of GPS and INS, Thesis of Department of Electrical and Control Engineering, National Chiao Tung University (2001).

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