Navigation performance evaluation for automatic guided vehicles

Author

Bostelman, Roger ; Tsai Hong ; Cheok, Gerry

Author_Institution

Intell. Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA

fYear

2015

fDate

11-12 May 2015

Firstpage

1

Lastpage

6

Abstract

Automatic guided vehicles (AGVs), an industrial form of a mobile robot, typically navigate using a central computer commanding AGV movement on predefined paths. How well they follow these paths is not well-defined in research articles and their performance is reported in non-standard manufacturer specifications. Furthermore, AGV technology is advancing towards vision guidance to map and localize their position from onboard the vehicle, whereas performance evaluation of advanced navigation techniques is just beginning. This paper describes AGV experiments using ground truth measurement comparison for performance evaluation of AGV navigation. A generic test procedure and metrics, described herein, are to be recommended to ASTM F45, a recently formed committee on performance of AGVs, as a navigation test method for use by the AGV and mobile robot industries.

Keywords

mobile robots; path planning; remotely operated vehicles; AGV; AGV movement; AGV navigation; ASTM F45; automatic guided vehicles; generic test metrics; generic test procedure; ground truth measurement comparison; mobile robot; navigation performance evaluation; vision guidance; Cameras; Measurement; Mobile robots; Navigation; Sensors; Uncertainty; Vehicles; ASTM F45; automatic guided vehicle; ground truth; mobile robot; performance measurement; test method;

fLanguage

English

Publisher

ieee

Conference_Titel

Technologies for Practical Robot Applications (TePRA), 2015 IEEE International Conference on

Conference_Location

Woburn, MA

Type

conf

DOI

10.1109/TePRA.2015.7219684

Filename

7219684