Camera-based AGV navigation system for indoor environment with occlusion condition

In our current research, we are developing a practical mobile vehicle navigation system which is capable of controlling multiple vehicles on the general environment. In order to realize the practical use, navigation system should have high accuracy and be low cost. Therefore, in this paper, we propose the vehicle navigation system which realizes vehicles navigation using high accuracy localization scheme by ceiling cameras with infrared filters and LED markers. Our key ideas are two topics. One topic is system integration which consists of high accuracy recognition system for LED marker and AGV controller with low cost. The other topic is novel AGV navigation scheme with high accuracy under occlusion condition. For practical use, mobile vehicles are required to continue its tasks with safety and high accuracy on temporary occlusion condition. Our developed system can navigate target vehicle based on estimation odometry error with simple algorithm. The performance of our proposed control system is experimented with our prototype.