Integration of communications sub-system into localization and control of AGVs

• Type: Article in International Conference Proceedings Book
• Date: 2008

Authors

Azenha, A (Author) Other; Adriano Carvalho (Author) FEUP

Conference proceedings International

Title: Jubilee 15th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2008 - Proceedings

Pages: 294-301

15th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2008

26 May 2008 through 28 May 2008

Indexing

Scopus - 2 Citations

Scientific classification

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Authenticus ID: P-00A-02M

Abstract (EN): This paper deals with integration of automated guided vehicle (AGV) communications sub-system into localization and control in indoors quasi-structured environments. Mismatched wheels radius for differential-drive AGV type is analyzed based on its influence on AGV dead-reckoning algorithm localization error. As dead-reckoning algorithm is prone to systematical, non-systematical and numerical drift errors, triangulation and trilateration can resort to AGV communications hardware to implement localization error reset. AGV control switching (change of direction mode and line following mode) is presented to show good performance in indoors quasi-structured environments, because these two modes are the components of AGV trajectories. Simulation result for line following mode is included. Trilateration method using AGV communications setup is also explained in detail, showing that AGV location can be computed based on radio frequency signal strength measurements. Trilateration calibration is also studied to increase AGV localization resolution.

Language: English

Type (Professor's evaluation): Scientific