Study on AGV Posture Estimating Based on Distributed Kalman Fusion for Multi-Sensor
AGV is one of important conveying tools in advanced manufacturing system. In order to convey material to the destination safely, exactly and real-timely, the controlling system of AGV must have some functions such as perceiving the surrounding, planning the path, positioning and controlling. Positioning is the key function for AGV to convey the material real-timely and accurately. In this paper, the novel Distributed Kalman Filter based on multi-sensor was designed for XAUT·AGV100 investigated. AGVs attitude angle was estimated by fusing the metrical information from sensors such as encoders, gyro and ultrasonic sensors. It was indicated by the simulation that the designed filter is reliable and effective. It is tested by the experiment of AGV tracking a linear-path that the filter can estimate AGVs attitude angle accurately and timely while AGV is moving. The positioning accuracy of the filter can meet the need of positioning AGV in manufacturing system through theory analysis and experiment.
AGV (Automated Guided Vehicle) Position Data Fusion Distributed Kalman Filter
Enxiu Shi Zhen Wang Xiaogang Huang Yumei Huang
Institute of Machinery Automation,Xian University of Technology,Xian 710048,China Yulin University,Yulin 719000,China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
1219-1223
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）