A New Positioning Method for Indoor Laser Navigation on Under-determined Condition
This study presents the indoor automated guided vehicles (AGV) laser navigation method on under-determined environments.Typical laser navigation system working well based on at least three reflectors.However,for the complex environment,dependent on obstacles shelves and goods,it is hard to install reflectors in expected points result in the laser scanner probably receive reflecting signal from less than three reflectors.This under-determined positioning condition will lead to the abnormal work situation of laser navigation system.In order to figure out it,this paper presents a new method when the number is less than three reflectors to output expected location information.It combines the known roadmap with two-axis accelerometer for different observation condition when the number of available reflectors is less than three.The scheme showed that the output accuracy is better than 8cm at the worst and more robust than single laser navigation system.
automated guided vehicles indoor positioning laser navigation system roadmap under-determined
Zhaoxin Xu Shanle Huang Jicheng Ding
Harbin Engineering University of Automation Harbin, China
国际会议
哈尔滨
英文
703-706
2016-07-21（万方平台首次上网日期，不代表论文的发表时间）