Multi-AGV Tracking System Based on Global Vision and AprilTag in Smart Warehouse

With the development of smart warehouses in Industry 4.0, scheduling a fleet of automated guided vehicles (AGVs) for transporting and sorting parcels has become a new development trend. In smart warehouses, AGVs receive paths from the multi-AGV scheduling system and independently sense the surroundi...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 104; no. 3
Main Authors Yang, Qifan, Lian, Yindong, Liu, Yanru, Xie, Wei, Yang, Yibin
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.03.2022
Springer
Springer Nature B.V
Subjects
Algorithms
Artificial Intelligence
Automated guided vehicles
Automatic guided vehicles
Control
Electrical Engineering
Engineering
Kalman filters
Mathematical analysis
Mechanical Engineering
Mechatronics
Navigation
Regular Paper
Robotics
Scheduling
Sensors
Topical collection on Unmanned Systems
Tracking systems
Vision
Warehouse stores
Warehouses
Global vision
Multi-AGV system
Tracking
YOLOv5
AprilTag
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Summary:With the development of smart warehouses in Industry 4.0, scheduling a fleet of automated guided vehicles (AGVs) for transporting and sorting parcels has become a new development trend. In smart warehouses, AGVs receive paths from the multi-AGV scheduling system and independently sense the surrounding environment while sending poses as interactive information. This navigation method relies heavily on on-board sensors and significantly increases the information interactions within the system. Under this situation, a solution that locates multiple AGVs in global images of the warehouse by top cameras is expected to have a great effect. However, traditional tracking algorithms cannot output the heading angles required by the AGV navigation and their real-time performance and calculation accuracy cannot satisfy the tracking of large-scale AGVs. Therefore, this paper proposes a multi-AGV tracking system that integrates a multi-AGV scheduling system, AprilTag system, improved YOLOv5 with the oriented bounding box (OBB), extended Kalman filtering (EKF), and global vision to calculate the coordinates and heading angles of AGVs. Extensive experiments prove that in addition to less time complexity, the multi-AGV tracking system can efficiently track a fleet of AGVs with higher positioning accuracy than traditional navigation methods and other tracking algorithms based on various location patterns.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-021-01561-5