Global Localization and Position Tracking of an Automated Guided Vehicle

Kirsch, Christopher; Röhrig, Christof

doi:10.3182/20110828-6-it-1002.01245

Cited by 12 publications

(11 citation statements)

References 7 publications

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“…As explained above, RTLSs can help AGVs navigate safely indoors. There are many works in the literature that propose using these location systems in AGV navigation [6], [7], [10]- [14], [16]- [20]. In this section, we will overview the main characteristics of the current RTLS-based safety systems for AGVs.…”

Section: Traditional Rtls-based Agv Navigation Systemsmentioning

confidence: 99%

“…There are various articles in the literature that use RTLS systems to help AGVs navigate indoors. For example, in [10] and [11] CSS-based sensors were used in combination with laser range finders for mobile robot navigation. Recently, RTLS systems based on IR-UWB have been proposed for locating AGVs indoors [6], [12]- [14] or Unmanned Aerial Vehicles (UAVs) [15].…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Traditional Rtls-based Agv Navigation Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

2021

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“…The straight paths have increment of 5.625 • consecutively. 5 involves the operations all basic actuations -W1W4_F, W1W4_B, W2W3_F and W2W3_B. Thus, optimal experimental validation is realized.…”

Section: Experimental Setup and Performance A Experimental Setupmentioning

confidence: 99%

“…wheelchair [3]. Today, the application of Mecanum wheel for industry as robot manipulator [4] and AGV [5] remain and are improved, whereas non-industrial application has expanded to mobile humanoid manipulator for kitchen [6] and even robotic waiter for restaurant [7]. The influence of Mecanum wheel for the past decades is evident and today, many sectors are still celebrating the benefits brought by the technology.…”

Section: Introductionmentioning

confidence: 99%

Comprehensive Development and Control of a Path-Trackable Mecanum-Wheeled Robot

2019

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This paper presents an intuitively straightforward yet comprehensive approach in developing and controlling a Mecanum-wheeled robot (MWR), with decent path tracking performance by using a simple controller as an end objective. The development starts by implementing two computer ball mice as sensors to realize a simple localization that is immune toward wheel slippage. Then, a linearization method by using open-loop step responses is carried out to linearize the actuations of the robot. Open-loop step response is handy, as it directly portrays the non-linearity of the system, thus achieving effective counteraction. Then, instead of creating a lookup table, polynomial regression is used to generate an equation in which the equation later represents an element of the linearizer. Next, a linear angle-to-gain (LA-G) method is introduced for path tracking control. The method is as easy as just linearly maps the summation of two angles-the angle between immediate and desired positions and the MWR's heading angle, into gains to control the wheels. Unlike the conventional control method which involves inverse kinematics, the LA-G method is directly a displacement-controlled approach and does not require the knowledge of parametric values, such as the robot's dimensions and wheel radius. Finally, all the methods are implemented, and the MWR experimentally demonstrates successfully tracking various paths, by merely using proportional controllers.

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“…Kim et al [3] proposed localization of an omnidirectional AGV with Mecanum wheels using encoders, gyro and accelerometer. Kirsch and Rohrig [4] presented a technique for global localization and position tracking of an omnidirectional AGV equipped with Mecanum wheels. Diegel et al [5] proposed two methods to improve the efficiency of Mecanum wheels.…”

Section: Introductionmentioning

confidence: 99%

Development of an automated guided vehicle with omnidirectional mobility for transportation of lightweight loads

Kanjanawanishkul

Phoohuengkaeo

Kumson

2015

MATEC Web of Conferences

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Abstract. The aim of the paper is to design and to develop a control system as well as a navigation system for an omnidirectional automated guided vehicle (AGV) that can be used to transport materials to the pre-determined target location automatically. Omnidirectional drive is employed in this work since it can move in an arbitrary direction continuously without changing orientation of the AGV. This capability is desirable for applications in congested environments. Two experiments were conducted. First, the navigation system based on line following was implemented to transport materials in the factory. Second, model predictive control was used to solve the path following problem of the omnidirectional AGV.

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Global Localization and Position Tracking of an Automated Guided Vehicle

Cited by 12 publications

References 7 publications

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

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

Comprehensive Development and Control of a Path-Trackable Mecanum-Wheeled Robot

Development of an automated guided vehicle with omnidirectional mobility for transportation of lightweight loads

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