Abstract (EN):
Radio frequency (RF) indoors localization is adopted by automated guided vehicles (AGVs) positioning due to availability of communications framework sub-system (e.g. ZigBee wireless network). AGV communications sub-system can therefore support RF localization hardware without additional cost.
Triangulation or trilateration methods are means of attenuating AGV dead-reckoning navigation errors. Dead-reckoning navigation method makes use of odometry and heading measurement signals. Dead-reckoning presents systematic, non-systematic and numerical drift errors which, in general, increase with traveled distance. Dead-reckoning algorithm performs well in indoors quasi-structured environments for a given period of time or for a given traveled distance, which one is more critical and that depends on current AGV trajectory. So, there is a need of attenuating dead-reckoning errors which, as a result, correspond to localization errors. Indoors localization can then resort to RF triangulation or trilateration techniques. Triangulation technique was subject of some previous authors’ work. In this chapter, state-of-art RF indoors trilateration technique for AGV indoors navigation is presented.
Language:
English
Type (Professor's evaluation):
Scientific
Contact:
azenha@fe.up.pt