An Indoor Location-Tracking Using Wireless Sensor Networks Cooperated with Relative Distance Finger Printing

In this paper, a method of moving path control of an automatic guided vehicle (AGV) in indoor environment through recognition of marker images is presented. The existing motion control system of the AGV using infrared sensors and landmarks has faced at the critical problem. That is, the crematorium has a narrow indoor environment compared with typical industrial fields. Particularly when the AGV changes its direction to enter the designated furnace the information provided by guided sensors cannot be utilized to estimate its location, because the rotating space is too narrow to access them. In this paper, a marker-based relative distance fingerprinting algorithm is presented to resolve the problem. Compared with the existing fingerprinting method which uses RSS, our proposed method may result in a more reliable estimation of the location. This method will be used to assist the primary navigation method based on double landmark recognition. These two distinct navigation methods are combined and integrated into the application systems which manage both the motion control and the location monitoring of the AGV.