INS/UWB integrated AGV localization employing Kalman filter for indoor LOS/NLOS mixed environment

Sensor-network-based navigation of delivery robot for baggage handling in international airport

“…In the simulation, the length of the path obtained by the RRT algorithm should be measured first starting from a simple case with single AGV in the initial position [10,0] and a single BCT in [100,50]. Before running, the maximum linear speed of AGV is set up to 1 m/s.…”

“…u i ððl À 1ÞtÞ remains the same option in the slot ðl À 1Þt. The trajectory of multi-AGVs is planned by repeatedly minimizing the cost function, subject to equation (10) for L time intervals. Specifically, having the starting points and BCTs for multi-AGVs, a set of trajectories for one interval (with L slots) are constructed.…”

“…9 Based on the inertial navigation system (INS)/UWB integrated model, an interactive multiple model algorithm was proposed in AGV indoor location. 10 The accuracy of positioning using UWB radio signals and TDoA method and extended Kalman filter algorithm is in the indoor navigation system. 11 The authors assumed that the AGV position was unknown, using an autonomous receiver to measure the received signal strength, locating its position, and sharing the information with other receivers nearby.…”

“…Without loss of generality, it is to take the trajectory planning for the interval ½0; t seriously. The objective function is proposed to minimize and make an optimal path planning, which is shown in equation (10). The AGV dynamic model can also be discretized and simplified in equation (11), and this simplification makes it easy to control the multi-AGVs…”

“…Since the scheduled departure time of the flight and the check-in time for passengers are the most important factors in the baggage handling system and there are no planes taking off at the same time in one international airport, so t sch denotes the scheduled departure time and t AGV denotes the check-in time, and t x denotes the priority decision parameter in equation (12). It is the product of the absolute value of the time difference between the time of baggage check-in t AGV and the scheduled time for flight departure t sch and the objective function J in equation (10). Therefore, these two parameters t sch and t x are used as the time priority decision weights to design the priority for each AGV…”