Passive wheels - A new localization system for automated guided vehicles.

ABSTRACT: This article introduces passive wheels as the new localization system for automated guided vehicles (AGVs). The article focuses on investigating the accuracy of the proposed system and comparing with other widely used solutions: rotary encoders coupled with drive wheels, AHRS and LiDAR scanner. The fusion of dead reckoning and inertial data is acquired by the implementation of the Kalman filter. On the other hand, the fusion of LiDAR data depends on application of the AMCL or the graph-based algorithm. The study was conducted on five different scenarios, designed to investigate the influence of specific types of movements on the performance of tested localization methods. Results indicate, that passive wheels dead reckoning outperforms drive wheels dead reckoning in most scenarios, minimiz

SUBMITTER: Bereszynski K 

PROVIDER: S-EPMC11829107 | biostudies-literature | 2024 Aug

REPOSITORIES: biostudies-literature