Sensor fusion and map establishment for autonomous guided vehicle

Ming Shi Wang, Li Fan Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The propose of this paper is position tracking and map establishment of Autonomous Guided Vehicle (AGV). Odometry is widely applied to track AGV position but it exists cumulative errors. Map offsets is presence if cumulative errors not corrected immediately. To solve this problem, multi-sensors are fused in this proposal. Firstly, an inertia measurement unit(IMU) is applied for providing the odometry with a correct driving direction. Moreover, the iterative closest point algorithm is applied to match the scanned information of Laser Range Finder(LRF) over time. Meanwhile, the results of scanning registration are used to eliminate odometry errors and updated the new information into global map. In experiment process, a simulation software called Virtual Robot Experiment Platform is firstly used to simulate the proposed algorithm before real experiment. It can make sure the hardware system can work well which will reduce the time on algorithm validation and software fault debugging time of practical testing.

Original languageEnglish
Title of host publicationProceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages563-566
Number of pages4
ISBN (Electronic)9781538694909
DOIs
Publication statusPublished - 2019 Jun
Event14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 - Xi'an, China
Duration: 2019 Jun 192019 Jun 21

Publication series

NameProceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019

Conference

Conference14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019
CountryChina
CityXi'an
Period19-06-1919-06-21

All Science Journal Classification (ASJC) codes

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Control and Optimization
  • Instrumentation

Fingerprint Dive into the research topics of 'Sensor fusion and map establishment for autonomous guided vehicle'. Together they form a unique fingerprint.

  • Cite this

    Wang, M. S., & Cheng, L. F. (2019). Sensor fusion and map establishment for autonomous guided vehicle. In Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019 (pp. 563-566). [8834021] (Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2019.8834021