Localization and Map Building of Laser Sensor AGV Based on Kalman Filter

Abstract:

Localization and navigation algorithm is the key technology to determine whether or not an AGV (automatic guided vehicle) can run normally. In this paper, we summarize the popular navigation technologies first and then focus on the positioning principle of Nav200 which is adopted in our AGV system. Besides that, the map building method and the layout of the reflective board is also introduced briefly. This paper introduced two navigation methods. The traditional navigation method only uses the sensor data and the electronic map to guide AGV. To improve positioning accuracy, we use the Kalman filter to minimize the error of localization sensor. At last some simulation work was done, the results shows that the localization accuracy was improved by adopting Kalman filter algorithm.

• Periodical: Advanced Materials Research (Volumes 712-715)
• Pages: 1938-1943
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.712-715.1938
• Online since: June 2013
• Authors: Li Xiao Guo, Fan Kun, Wen Jun Yan
• Keywords: Karman Filter, Localization, Navigation, Topological Map

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