A Navigation Method of Information Fusion and Mutual Aid Based on Map for Logistic AGV

Author

Li Zhongming ; Weng Xun ; Su Zhiyuan

Author_Institution

Beijing Univ. of Posts & Telecommun., Beijing, China

fYear

2014

fDate

10-11 Jan. 2014

Firstpage

21

Lastpage

24

Abstract

According to the problem of robustness and realtime performance in AGV by vision navigation, a navigation method is present in this paper, in which information fusion and mutual aid based on map is adopted. Information model of path is build and direction type of path element is defined. Turning direction for all turning points in whole route can be got by table of judgment rule. Angle of turning can be computed by position information stored in database. Different sensors information is used to control motion of AGV in straight line path and turning path. Map system is developed and can integrate with other sensors information. This method is verified by experiment.

Keywords

automatic guided vehicles; logistics; mobile robots; motion control; path planning; robot vision; sensor fusion; automated guided vehicle; information fusion; information model; judgment rule; logistic AGV; map system; motion control; mutual aid; navigation method; sensors information; vision navigation; Automation; Mechatronics; Information fusion; Map; Odometer; Vision navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation (ICMTMA), 2014 Sixth International Conference on

Conference_Location

Zhangjiajie

Print_ISBN

978-1-4799-3434-8

Type

conf

DOI

10.1109/ICMTMA.2014.11

Filename

6802626