AGV Global Localization Using Indistinguishable Artificial Landmarks
In this paper we consider the global localization problem for an industrial AGV moving in a known environment. The problem consists of determining the pose of the vehicle without any prior information about its location. The vehicle is supposed to be equipped with a laser scanner that allows to measure the range and bearing of the vehicle with respect to a set of anonymous landmarks. A map with the positions of all landmarks in the environment is available to the localization system. We propose a novel algorithm for AGV self-localization based on landmarks identification that can take into account also false detections, very common in industrial environments. The pose is computed with a single scan (2D), without any sensor fusion. The performance of the proposed strategy is shown both by simulations and experiments on real industrial plants.
Davide Ronzoni Roberto Olmi Cristian Secchi Cesare Fantuzzi
Department of Sciences and Methods of Engineering,University of Modena and Reggio Emilia,via G. Amendola 2,Morselli building,Reggio Emilia I-42122 Italy
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
287-292
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）