AGV System Based on Multi-sensor Information Fusion

This paper proposed hardware and software structure of the AGV system, localization method and tracking control method. In order to achieve long time and high precision localization of the AGV, this paper proposed a multi-sensor information fusion method for localization. The method was based on the characteristics of the used sensors, and adopted Kalman filter to fuse the heading direction data and position data respectively to obtain the best estimate value of AGV posture information. This paper used the control rule designed by Kanayama and the reference velocities and posture of target which were planned in advance and updated continuously for tracking control. This approach realized the tracking control accuracy and stability of the AGV. Some experiment results verified the correctness of localization method and tracking control method of the AGV system on the basis of the differential AGV.