A new method of AGV navigation based on Kalman Filter and a magnetic nail localization

Unmanned Automatic Guided Vehicle (AGV) is a critical part of advanced manufacturing system. The navigation and localization technology are the key components of AGV design. In this paper, we propose a navigation method based on Kalman Filter and a magnetic nail localization. By the method, the stat...

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Bibliographic Details
Published in2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 952 - 957
Main Authors Zhi Song, Xinyu Wu, Tiantian Xu, Jianquan Sun, Qinshi Gao, Yong He
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2016
Subjects
Magnetic separation
Magnetosphere
Mathematical model
Nails
Navigation
Perpendicular magnetic recording
Wheels
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Summary:Unmanned Automatic Guided Vehicle (AGV) is a critical part of advanced manufacturing system. The navigation and localization technology are the key components of AGV design. In this paper, we propose a navigation method based on Kalman Filter and a magnetic nail localization. By the method, the state equation can be obtained by carrying out the kinematics analysis. Heading angle and position can be estimated by data from gyroscope and encoders using Kalman Filter (KF) algorithm, and they can be also adjusted once the vehicle pass through a magnetic nail. The magnetic nails localization method improves the navigation accuracy with low-cost.
DOI:10.1109/ROBIO.2016.7866447