Ultra wide-band trajectory following for an omnidirectional factory automation vehicle

Author

Radovnikovich, Micho ; Fleck, Paul ; Hallenbeck, Kevin

Author_Institution

Dataspeed, Inc., Troy, MI, USA

fYear

2014

fDate

14-15 April 2014

Firstpage

1

Lastpage

6

Abstract

In this paper, an ultra wide-band (UWB) localization system is presented that is used in conjunction with on-board odometry sensors to precisely guide an autonomous factory vehicle along a specified path. A precise UWB-based system has many advantages over conventional automated path following technologies, but the most significant advantage is its reconfigurability. Paths are specified in software, and changing the path does not require any changes in factory infrastructure. Simulation and real-time experimental results demonstrate that by combining localization estimates with odometry data, it is feasible to achieve a very capable path following system in a practical factory environment.

Keywords

factory automation; mobile robots; path planning; trajectory control; UWB localization system; autonomous factory vehicle; localization estimates; omnidirectional factory automation vehicle; onboard odometry sensors; path following system; ultra wide-band localization system; ultra wide-band trajectory following; Computers; Geometry; Production facilities; Sensors; Vectors; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Technologies for Practical Robot Applications (TePRA), 2014 IEEE International Conference on

Conference_Location

Woburn, MA

Print_ISBN

978-1-4799-4606-8

Type

conf

DOI

10.1109/TePRA.2014.6869139

Filename

6869139