Kalman Filter-Based Sensor Fusion for Improving Localization of AGV

In Seong Lee; Jae Yong Kim; Jun Ha Lee; Jung Min Kim; Sung Sin Kim

doi:10.4028/www.scientific.net/AMR.488-489.1818

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 488-489Kalman Filter-Based Sensor Fusion for Improving...

Kalman Filter-Based Sensor Fusion for Improving Localization of AGV

Abstract:

This paper proposes localization using sensor fusion with a laser navigation and an inertial navigation system for indoor mobile. The laser navigation is a device that measures angle and distance between the robot and the reflectors. Although it is the high-precision device for indoor global positioning, there is a problem that the accuracy of laser navigation significantly drops while moving at high speed and rapid turning. To solve this problem, the laser navigation was fused to inertial navigation system through Kalman filter. For experiment, we use omnidirectional robot with Mecanum Wheels and analyze the positioning accuracy according to driving direction of the robot.

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Periodical:

Advanced Materials Research (Volumes 488-489)

Pages:

1818-1822

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.488-489.1818

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Cite this paper

Online since:

March 2012

Authors:

In Seong Lee, Jae Yong Kim, Jun Ha Lee, Jung Min Kim, Sung Sin Kim

Keywords:

Automatic Guided Vehicle, Inertial Navigation System (INS), Kalman Filter (KF), Laser Navigation, Sensor Fusion

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