A Research on AGV Integrated Navigation System Based on Fuzzy PID Adaptive Kalman Filter

Xu, Hongfei; Zhang, Sihui; Cao, Pengyuan; Qin, Jianmin; Wang, Chen

doi:10.1109/imcec46724.2019.8983891

Cited by 1 publication

(2 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Pairs can be divided into two sets P = {P 1 (x b , y b ), P 2 (x c , y c ), P 3 (x d , y d ), P 4 (x e , y e )} and X = X 1 x g , y g , X 2 (x h , y h ), X 3 (x k , y k ), X 4 (x l , y l ) . Similar to ICP, the centers of P and X are calculated by Equation (19).…”

Section: Improved Reflector Positioning Methodsmentioning

confidence: 99%

See 1 more Smart Citation

LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance

Zeng

Kan

Tao

et al. 2021

Sensors

View full text Add to dashboard Cite

As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision.

show abstract

Section: Improved Reflector Positioning Methodsmentioning

confidence: 99%

“…A high-precision, low-cost AGV integrated navigation method was proposed by Xu et al [19]. The method fused the dead reckoning with the LiDAR positioning data by the extended Kalman filter.…”

Section: Introductionmentioning

confidence: 99%