Dynamic analysis of AGV control under dead-reckoning algorithm

被引：4
|
作者：
Azenha, Abilio [1 ]
Carvalho, Adriano [1 ]
机构：
[1] Univ Porto, Fac Engn, Inst Syst & Robot, P-4200465 Oporto, Portugal
来源：
ROBOTICA | 2008年 / 26卷
关键词：
AGV control; dead-reckoning; measurement error analysis; localization; simulation;
D O I：
10.1017/S0263574708004244
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, dead-reckoning localization errors for automated, mated guided vehicles (AGVs) in indoors quasi-structured environments are studied. Based on error ellipse localization analysis, dead-reckoning errors arising from mismatched AGV wheels radius are investigated. The dynamic model for a differential-drive AGV type with mismatched wheels radius is also derived. The developed rationale shows that sensor fusion is a key feature for minimizing AGV localization errors. Two simulation scenarios and one experiment are presented to show system performance under AGV proportional-derivative (PD)-type control.
引用
收藏
页码：635 / 641
页数：7
相关论文
共 50 条
  • [1] A dead-reckoning algorithm for virtual human figures
    Capin, TK
    Pandzic, IS
    Thalmann, NM
    Thalmann, D
    [J]. IEEE 1997 VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM, PROCEEDINGS, 1997, : 161 - 169
  • [2] An Indoor Dead-Reckoning Algorithm with Map Matching
    Bao, Haitao
    Wong, Wai-Choong
    [J]. 2013 9TH INTERNATIONAL WIRELESS COMMUNICATIONS AND MOBILE COMPUTING CONFERENCE (IWCMC), 2013, : 1534 - 1539
  • [3] Dead-reckoning bats
    不详
    [J]. LAB ANIMAL, 2018, 47 (02) : 25 - 25
  • [4] IMU Dead-Reckoning Localization with RNN-IEKF Algorithm
    Zhou, Hang
    Zhao, Yibo
    Xiong, Xiaogang
    Lou, Yunjiang
    Kamal, Shyam
    [J]. 2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2022, : 11382 - 11387
  • [5] Performance analysis of a novel pedestrian dead-reckoning method
    Pricope, Bogdan
    Haas, Harald
    [J]. 2011 IEEE 22ND INTERNATIONAL SYMPOSIUM ON PERSONAL INDOOR AND MOBILE RADIO COMMUNICATIONS (PIMRC), 2011, : 1244 - 1248
  • [6] AI-IMU Dead-Reckoning
    Brossard, Martin
    Barrau, Axel
    Bonnabel, Silvere
    [J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2020, 5 (04): : 585 - 595
  • [7] A Novel Map-Based Dead-Reckoning Algorithm for Indoor Localization
    Bao, Haitao
    Wong, Wai-Choong
    [J]. JOURNAL OF SENSOR AND ACTUATOR NETWORKS, 2014, 3 (01): : 44 - 63
  • [8] Differential Wheeled Robot Navigation Based on the Smoothing A* Algorithm and Dead-Reckoning
    Jiang, Daowei
    Yuan, Liang
    [J]. INTELLIGENT AUTONOMOUS SYSTEMS 14, 2017, 531 : 695 - 711
  • [9] Speed Estimation for Pedestrian Dead-Reckoning
    Pricope, Bogdan
    Haas, Harald
    [J]. 2010 IEEE 21ST INTERNATIONAL SYMPOSIUM ON PERSONAL INDOOR AND MOBILE RADIO COMMUNICATIONS (PIMRC), 2010, : 314 - 318
  • [10] Dead-reckoning Aided RSSI Based Positioning System for Dynamic Indoor Environments
    Kao, Wei-Wen
    Lin, Shih-Hong
    [J]. PROCEEDINGS OF THE 23RD INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2010), 2010, : 3359 - 3365
12345