Global Indoor Localization Method for AGV Based on Ultrasonic Asynchronous Distance Measurement
Year: 2024
Type: conference-paper
Abstract: In order to realize free path indoor navigation and meet requirements of low cost, an integrated kinematics model of AGV and orienting mechanism of ultrasonic transmitter is established, and a global localization scheme based on three times asynchronous correlated ultrasonic distance measurement and with small number of end-nodes is given. The experiments showed that maximum localization error is just only 67 mm when the AGV travelled at a speed of 0.5 m/s and performed distance measurement at long time intervals of 1 s, which can meet the positioning requirements of most workshop operations.
Authors: Xin’gang Yang, Xianchen Song, Runtian Du, Botong Shu, Shuo Yang, Xuzhao Han
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4403888684