Experiment Study of AGV Navigation Based on Multi-Sensor

Abstract:

Automated guided vehicle (AGV) is a kind of wheeled mobile robot, which used for the internal and external transport of materials from one place to another in flexible manufacture system (FMS). AGV are also used for repeating transportation tasks in other areas, such as warehouses, container terminals and external (underground) transportation systems. The AGV navigation algorithms are classified as global or local, depending on surrounding environment. In global navigation, the environment surrounding the AGV is known and the path which avoids the obstacle is selected. In local navigation, the environment surrounding the AGV is unknown, and sensors are used to detect the obstacles and avoid collision. In the past, a number of algorithms have been designed by many researchers for robot navigation problems. Through analyzing the existing positioning methods and precision for AGV, this paper design and develop a new navigation software based on multi-sensor information fusion algorithm, it is proved through the theory analysis and experiment that the position precision of AGV is ≤±5mm, posture precision is ≤±0.3°. It can full meet the requirements of robot’s accuracy.

• Periodical: Advanced Materials Research (Volumes 472-475)
• Pages: 484-487
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.472-475.484
• Online since: February 2012
• Authors: Xiao Peng Yao, Li Zeng
• Keywords: Multi-Sensors Navigation, Positioning Method, Wheeled Mobile Robot

References

[1] Insup Um, Hyeonjae Cheon and Hongchul Lee: submitted to Journal of Manufacturing System 2009(28):115-122

[2] Tom Duckett, Ulrich Nehmzow: submitted to Journal of Robotics and Autonomous Systems 1998(24):57-69

[3] Gilbert Laporte,Reza Zanjirani Farahani and Elnaz Miandoabchi: submitted to.Journal of Applied Mathematics and Computation, 2006, (183): 1410-1421.

[4] Ronald J. Mantel, Henri R.A. Landeweerd: submitted to Journal of Int. J. Production Economics 1995 (41): 257-266