Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder

Dobrzańska, M.; Dobrzański, P.

doi:10.3390/app122412826

Cited by 5 publications

(3 citation statements)

References 35 publications

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“…The laser rangefinder continuously scans the surrounding environment and provides real-time distance measurements to nearby objects. By comparing these measurements with the Automatic Ground Vehicles (AGV) expected position based on its planned trajectory, any deviations can be identified [14]. Currently, one of the most efficient and trustworthy techniques used for relative localization is Visual Odometry (VO).…”

Section: Related Workmentioning

confidence: 99%

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Karthik,

Menaka,

Kishore

et al. 2024

IEEE Access

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Mobile robots have emerged as versatile substitutes for human labor across diverse domains, offering promising applications in surveillance, healthcare, and beyond. Fundamental to their autonomy are the core capabilities of movement, perception, cognition, and navigation. This research introduces a novel approach known as the Dual PID based low-cost navigation system (DPLNS), designed specifically for indoor warehouse-like environments. The primary objective of this technique is to enable seamless point-to-point traversal. This is achieved through a fusion of gyroscope correction and visual PID control mechanisms. Leveraging a strategically positioned eagle-eye perspective camera, the system gained crucial insights for navigation. To ensure the uninterrupted execution of planned trajectories, the system employs the Message Queuing Telemetry Transport (MQTT) protocol. This technology ensures smooth communication and coordination of actions. The experimental validation of the proposed strategy highlights its efficacy, positioning it as a promising solution for modern warehouse automation needs. By advancing the capabilities of mobile robots within warehouse contexts, this research not only addresses immediate operational demands, but also paves the way for broader applications across various other fields. The developed system enables robust detection and successful path traversal to the designated spot through a position control operating at average of 12.3 rad/s.

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Section: Related Workmentioning

confidence: 99%

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Karthik,

Menaka,

Kishore

et al. 2024

IEEE Access

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“…Scholars have carried out much research to improve the stability and effectiveness of various navigation systems, such as magnetic navigation (Lee and Yang, 2012), visual navigation (Hou et al , 2007) and laser navigation (Nguyen et al , 2022). The laser navigation system used light detection and ranging (LiDAR) to continuously launch laser scanning surrounding reflectors to measure the distance and angle to each target location (Dobrzanska and Dobrzanski, 2022). The absolute position of AGV can be triangulated by reflecting and scanning the emitted laser beam (Pratama et al , 2016).…”

Section: Literature Reviewmentioning

confidence: 99%

AGV robot for laser-SLAM based method testing in automated container terminal

Yang,

Cao,

Liu

et al. 2023

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Purpose Magnet spot is the primary method to develop the automated guided vehicle (AGV) guidance system for many automated container terminals (ACT). Aiming to improve the high flexibility of AGV operation in ACT, this paper aims to address the problem of technical stability leading to ACT production paralysis and propose a mini-terminal AGV robot for testing laser simultaneous location and mapping (SLAM)-based methods in ACT operation scenarios. Design/methodology/approach This study developed a physical simulation robot for terminal AGV operations, providing a platform to test technical solutions for applying laser navigation-related technologies in ACTs. Then, the terminal-AGV navigation system framework is designed to apply the laser-SLAM-based method in the physical simulation robot. Finally, the experiment is conducted in the terminal operation scenario to verify the feasibility of the proposed framework for lased-SLAM-based method testing and analyze the performance of the different mini-terminal AGV robots. Findings A series of experiments are conducted to analyze the performance of the proposed mini-terminal AGV robot for laser-SLAM-based method testing. The experimental results show the validity and effectiveness of the AGV robot and AGV navigation system framework with better local map matching, loopback and absolute positional error. Originality/value The proposed mini-terminal AGV robot and AGV navigation system framework can provide a platform for innovative laser-SLAM-based method testing in ACTs applications. Therefore, this study can effectively meet the high requirements of ACT for maturity and stability of the laser navigation technical.

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“…Because accuracy of range-finding is the prerequisite of reliable target hitting. Pulsed laser rangefinder is the basis of the target aiming technology during the warfare process, which makes it widely used in a large number of military equipment [1][2][3] . Therefore, it is considerable to jam the enemy's laser rangefinder so that it can't obtain the correct range information.…”

Section: Introductionmentioning

confidence: 99%

Study on the influence of range deception interference on rangefinder

Zhang,

Wan,

Kang

et al. 2024

Fifth International Conference on Optoelectronic Science and Materials (ICOSM 2023)

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Range deception interference on rangefinder is composed of range positive and negative deviation jamming. In this paper, their working principles has been analyzed. And numerous experiments have been conducted to investigate their interference effect on rangefinder. As theoretical analysis and experimental results shows, range positive deviation jamming can accurately control the jamming result. As for range negative deviation jamming, there has a minimum jamming distance related to the jamming laser frequency. The higher the repetition frequency of the jamming laser, the smaller the minimum interference distance related and the larger the effective interference distance range is. And the ranging results under range negative deviation tends to a normal distribution, with the center of the minimum interference distance. No matter which interference mode is chosen, the premise of successful jamming is that the energy of jamming laser is larger than the echo pulse reflected by the target from rangefinder.

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Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder

Cited by 5 publications

References 35 publications

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

AGV robot for laser-SLAM based method testing in automated container terminal

Study on the influence of range deception interference on rangefinder

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