Safety Improvement Test of A GPS Based AGV System Using A Dead Reckoning Algorithm
Global positioning system (GPS) technologies have recently led to innovations in the guidance area of small mobile robots. In particular, the design of guidance and navigation systems for autonomous guided vehicles (AGVs) has included a carrier phase differential GPS (CDGPS). With a single inexpensive GPS receiver, CDGPS technology can measure the position of a vehicle with an error of just a few decimeters. Comparison with the reference trajectory and the test result, the error on the driving position of a CDGPS-based AGV is 0.2 a However, obstacles such as buildings and trees along the roadside can block signals and have effects on the satellite visibility of a GPS, causing safety problems in the navigation of a CDGPS-based AGV. As a result, there is a need for the integration of a GPS and dead reckoning (DR). The integration of GPS and DR sensors can improve the navigation performance in a road environment This paper focuses on CDGPS safety performance tests that involve the use of CDGPS abnormal positioning error detection and DR algorithms. The tests were performed on a CDGPS-based AGV for a C-type trajectory with a GPS outage sectioa The test results show that CDGPS positioning error is detection can be achived with an error of more than 0.4 m. In addition, the DR driving position error is 1.5 m for an 8 s CDPGS positioning service outage.
GPS AGV Safety CDGPS DR
Kang Wooyong Lee Eunsung Park Jaeik Heo Moonbeom Sim Eunsup
Space Application and Future Technology Center, Korea Aerospace Research Institute,Daejeon, Republic Space Application and Future Technology Center,Korea Aerospace Research Institute, Daejeon, Republic Space Application and Future Technology Center, Korea Aerospace Research Institute, Daejeon, Republi
国际会议
2010 Asia-Pacific International Symposium on Aerospace Technology(2010 亚太航空航天技术研讨会 APISAT 2010)
西安
英文
656-659
2010-09-01（万方平台首次上网日期，不代表论文的发表时间）