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http://dx.doi.org/10.5391/JKIIS.2010.20.1.054

Line Tracking Method of AGV using Sensor Fusion  

Jung, Kyung-Hoon (부산대학교 로봇협동과정)
Kim, Jung-Min (부산대학교 전자전기공학과)
Park, Jung-Je (부산대학교 전자전기공학과)
Kim, Sung-Shin (부산대학교 전자전기공학과)
Bae, Sun-Il ((주)ATIS)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.1, 2010 , pp. 54-59 More about this Journal
Abstract
This paper present to study the guidance system as localization technique using sensor fusion and line tracking technique using virtual line for AGV(autonomous guided vehicle). An existing AGV could drive on decided line only. And representative guidance systems of such guidance system are magnet-gyro guidance and wired guidance. However, those have had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the localization system which is fused with a laser navigation and gyro, encoder. The system is robust against noise, and flexible according to working environment through sensor fusion. For line tracking of laser navigation without wire guidance, we set the virtual line in program, and design the driving controller based on difference of angle and distance between AGV's position and decided virtual line. To experiment, we use the AGV which is made by ourselves, and experiment the line tracking repeatedly on same experimental environment. In result, maximum distance error between decided virtual line and AGV's position was less than 49.93mm, and we verified that the proposed system is efficient for line tracking of actual AGV.
Keywords
AGV; sensor fusion; localization; line tracking; driving control;
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Times Cited By KSCI : 1  (Citation Analysis)
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