Development of a High Precision UWB/Vision-based AGV and Control System

Ding, Guanqi; Lü, Hong-Liang; Bai, Jing; Qin, Xin

doi:10.1109/iccre49379.2020.9096456

Cited by 19 publications

(10 citation statements)

References 4 publications

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“…Aiming at minimizing the position error and based on the assumption, we assume the real estimated distance in equation (7), and equation (8) shows a new function related to the relationship between p and pþ1 Newton-Raphson iterations (p ¼ 1, . .…”

Section: Uwb Positioning Methods For Multi-agvsmentioning

confidence: 99%

“…Then, computer vision technology was used to accurately determine the position of the vehicle, thereby establishing a high-precision AGV self-localization method. 7 The nonoptical-based method was informed about localizing AGVs in the indoor environment via channel state information. 8 A combination of indoor UWB wireless positioning sensors and ultrasonic sensors for obstacle distance measurement and avoidance was used to build optimized AGV robots that can efficiently implement indoor navigation.…”

Section: Related Workmentioning

confidence: 99%

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Sensor-network-based navigation of delivery robot for baggage handling in international airport

KeFei

et al. 2020

International Journal of Advanced Robotic Systems

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Automated guided vehicles (AGVs) have been regarded as a promising means for the future delivery industry by many logistic companies. Several AGV-based delivery systems have been proposed, but they generally have drawbacks in delivering and locating baggage by magnet line, such as the high maintenance cost, and it is hard to change the trajectory of AGV. This article considers using multi-AGVs as delivery robots to coordinate and sort baggage in the large international airport. This system has the merit of enlarging the accuracy of baggage sorting and delivering. Due to the inaccurate transportation efficiency, a time-dependent stochastic baggage delivery system is proposed and a stochastic model is constructed to characterize the running priority and optimal path planning for multi-AGVs according to the flight information. In the proposed system, ultra-wideband technology is applied to realize precisely positioning and navigation for multi-AGVs in the baggage distribution center. Furthermore, the optimal path planning algorithm based on time-window rules and rapidly exploring random tree algorithm is considered to avoid collision and maneuverability constraints and to determine whether the running path for each AGV is feasible and optimal. Computer simulations are conducted to demonstrate the performance of the proposed method.

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Section: Uwb Positioning Methods For Multi-agvsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Sensor-network-based navigation of delivery robot for baggage handling in international airport

KeFei

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…In [16] and [17], UWB technology was combined with inertial sensors to achieve greater accuracy. [18] combined UWB technology with computer vision for AGV navigation; [19] combined UWB, inertial sensors and vision for small Unmanned Aerial Vehicle (Mini-UAV) localization indoors.…”

Section: Introductionmentioning

confidence: 99%

UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

2021

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Automated Guided Vehicles (AGV) are unmanned transport vehicles widely used in the industrial sector to substitute manned industrial trucks and conveyors. In order to guarantee safe operation, AGVs must be equipped with a safety system to stop their movement in presence of obstacles or humans in their path. This work presents a novel safety system for AGVs that is based on Ultra Wideband (UWB) technology. Unlike previous works based on UWB Real-Time Location Systems (RTLS), the proposed safety system does not require installing hardware on the plant's infrastructure. Instead, the AGV is equipped with sensors capable of locating the tag of a person or a mobile asset. This simplifies deployment of the solution and enables its use in dynamic environments. The proposed safety system was mounted in an AGV designed by the company ASTI Mobile Robotics. Dynamic measurements showed that the proposed safety system accurately mirrors the relative movement between the AGV and tag. Furthermore, the proposed safety system employs a novel method for post-processing ranging data. Measurements showed that this method improves the accuracy of the system, resulting in a more homogeneously distributed positioning error around a room.

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“…Numerous methods have been employed to improve UWB’s positioning accuracy. Multi-sensor fusion is effective for achieving high-precision positioning [ 24 , 25 , 26 , 27 , 28 ]. Combining UWB positioning with an IMU can eliminate drift-free output in UWB-sensor data and correct accumulated IMU errors [ 29 , 30 ].…”

Section: Introductionmentioning

confidence: 99%

Analysis and Improvement of Indoor Positioning Accuracy for UWB Sensors

Yao

2021

Sensors

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Ultra-wideband (UWB) sensors have been widely applied to indoor positioning. The indoor positioning of UWB sensors usually refers to the positioning of the mobile node that interacts with the anchors through radio for calculating the distance between the mobile node and each of the surrounding anchors. The positioning accuracy of the mobile node is affected by the installation positions of surrounding anchors. A mathematical model was proposed in this paper to respectively analyze the mobile node’s 2-dimensional (2D) and 3-dimensional (3D) positioning errors. The factors influencing the mobile node’s positioning errors were explored through the mathematical models. The best installation positions of surrounding anchors were obtained based on the mathematical models. The mobile node’s 2D and 3D positioning errors were reduced based on the anchor positions derived from the mathematical model. Both computer simulations and practical experiments were implemented to justify the results obtained in the mathematical models.

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Development of a High Precision UWB/Vision-based AGV and Control System

Cited by 19 publications

References 4 publications

Sensor-network-based navigation of delivery robot for baggage handling in international airport

Sensor-network-based navigation of delivery robot for baggage handling in international airport

UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure

Analysis and Improvement of Indoor Positioning Accuracy for UWB Sensors

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