Multi-level navigation using active localization system

The traditional method for controlling the trajectories of an AGV in industrial environments is based on wire-guide systems. This paper describes a multi level architecture for mobile robots that integrates a high level mission planner, a real-time trajectory generator, and real-time motion control. The positioning accuracy is guaranteed by an active localization system that integrates in real-time the odometry measures giving position and orientation with high level resolution. This architecture allows the removal of the wire guidance system in AGV technology, and the introduction of an intelligent trajectory generation system at shop floor factory level