Title :
A Navigation Method of Information Fusion and Mutual Aid Based on Map for Logistic AGV
Author :
Li Zhongming ; Weng Xun ; Su Zhiyuan
Author_Institution :
Beijing Univ. of Posts & Telecommun., Beijing, China
Abstract :
According to the problem of robustness and realtime performance in AGV by vision navigation, a navigation method is present in this paper, in which information fusion and mutual aid based on map is adopted. Information model of path is build and direction type of path element is defined. Turning direction for all turning points in whole route can be got by table of judgment rule. Angle of turning can be computed by position information stored in database. Different sensors information is used to control motion of AGV in straight line path and turning path. Map system is developed and can integrate with other sensors information. This method is verified by experiment.
Keywords :
automatic guided vehicles; logistics; mobile robots; motion control; path planning; robot vision; sensor fusion; automated guided vehicle; information fusion; information model; judgment rule; logistic AGV; map system; motion control; mutual aid; navigation method; sensors information; vision navigation; Automation; Mechatronics; Information fusion; Map; Odometer; Vision navigation;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2014 Sixth International Conference on
Conference_Location :
Zhangjiajie
Print_ISBN :
978-1-4799-3434-8
DOI :
10.1109/ICMTMA.2014.11
