Design and Implementation of Differential Drive AGV Based on Laser Guidance

Xu, Hongfei; Xia, Jiqiang; Zhang, Yuwei; Cao, Pengyuan

doi:10.1109/icras.2019.8808992

Cited by 13 publications

(7 citation statements)

References 6 publications

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“…In the corner of the map is a serial number, which is a unique mark and makes it easy for people to identify the QR code. The positioning of AGV refers to the procedure of collecting external information and obtaining its position in real-time after certain processing (Cho et al , 2017; Xu et al , 2019). It operates by using cameras to scan QR codes along the route.…”

Section: Preliminarymentioning

confidence: 99%

“…Alternatively, the error could be recorrected by laser navigation (Brady et al , 1990; Bui et al , 2013; Cardarelli et al , 2017; Kim et al , 2012; Lee et al , 2012; Ploeg et al , 2002; Ramer et al , 2015; Xu et al , 2019), image recognition technology (Bostelman et al , 2015; Chen et al , 2019; Chun-Fu et al , 2017; Kang et al , 2013; Lin et al , 2018; Wu et al , 2020; ZHANG and ZHOU, 2007), magnetics (Al Hazza et al , 2017; Cho et al , 2017; Park et al , 2009; Song et al , 2016; Vale et al , 2017; Wang et al , 2020; Yin et al , 2018; Zheng et al , 2014) and other devices to recorrect the error later. However, all of these methods increase complexity, uncertainty and manufacturing costs.…”

Section: Model Establishment and Control Strategymentioning

confidence: 99%

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A novel industrial AGV control strategy based on dual-wheel chassis model

Hua

Huang

Shi

et al. 2022

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Purpose Automatic guided vehicles (AGVs) are widely used in industrial fields. But most control strategies merely take the lateral force into consideration. This will reduce the accuracy, stability and robustness and will pay additional costs. Therefore, this paper aims to design a control strategy that initially considers lateral force. Thereby, it will improve the accuracy, stability and robustness and reduce the overall cost of AGV. Design/methodology/approach To achieve the goal of comprehensively improving AGV operating performance, this paper presents a new scheme, combining the dual-wheeled chassis model (DCM) using proportional–integral–differential (PID) control and a supporting quick response (QR) code navigation technology. DCM is the core, which analyzes the deviation caused by lateral force. Then, DCM with PID control by the control law is combined to suppress the errors. Meanwhile, QR code navigation technology provides effective data support for the control strategy. Findings Most AGV experiments are carried out in a standard environment. However, this study prepares unfavorable scenarios and operating conditions for the experiments that generate detailed data to demonstrate this study’s strategy, which can make an accurate, stable and robust operation process of AGV under various adverse environmental and mechanical factors. Originality/value This study proposed DCM, fully considering lateral force and converting the force into velocity. Subsequently, PID controls the speed of two wheels to reduce the error. QR code provides an efficient and low – cost way to obtain information. The three are cleverly combined as a novel industrial AGV control strategy, which can comprehensively improve the operating performance while reducing overall costs.

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Section: Preliminarymentioning

confidence: 99%

Section: Model Establishment and Control Strategymentioning

confidence: 99%

A novel industrial AGV control strategy based on dual-wheel chassis model

Hua

Huang

Shi

et al. 2022

View full text Add to dashboard Cite

show abstract

“…In this paper, two encoders are installed on the auxiliary wheel to measure each wheel's angular velocity w l and w r [11]. The linear speed of each wheel is calculated as (2), and the LGV linear speed v and angular speed ωare calculated as (3).…”

Section: Kinematics Model Impact On the Robotmentioning

confidence: 99%

“…Besides, there is an advantage in that the working space can be easily expanded and changed by adjusting the position and number of ref ectors. However, due to the header rotating characteristics and the laser to recognize the ref ector, errors in rotation and high-speed driving are large [3]. There is a problem in that an object having a high ref ectance is recognized as a ref ector.…”

Section: Introductionmentioning

confidence: 99%

An Improved Positioning Accuracy Method of a Robot Based on Particle Filter

Ali

Hakro

et al. 2021

Proceedings of International Conference on Advanced Computing Applications

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This paper aims to improve the performance and positioning accuracy of a robot by using the particle f lter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots. Its localization is more f exible to control than wired guidance systems. However, the navigation through the laser range f nder occurs with a large positioning error while it moves or turns fast. For solving this problem, the paper proposes a method to improve the positioning accuracy of a robot in an indoor environment by using a particle f lter with robust characteristics in a nonlinear or non-Gaussian system. In this experiment, a robot is equipped with a laser range f nder, two encoders, and a gyro for navigation to verify the positioning accuracy and performance. The positioning accuracy and performance could improve by approximately 85.5% in this proposed method.

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“…Therefore, many scholars have proposed new reflector matching algorithms to improve real-time performance. Xu et al [17] designed a reflector matching method based on dead reckoning. The method predicts the position and orientation of AGV by using an encoder and gyroscope and calculated the possible position of reflectors according to the prediction results.…”

Section: Introductionmentioning

confidence: 99%

LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance

Zeng

Kan

Tao

et al. 2021

Sensors

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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.

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Design and Implementation of Differential Drive AGV Based on Laser Guidance

Cited by 13 publications

References 6 publications

A novel industrial AGV control strategy based on dual-wheel chassis model

A novel industrial AGV control strategy based on dual-wheel chassis model

An Improved Positioning Accuracy Method of a Robot Based on Particle Filter

LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance

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