Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder
In order for AGVs to be able to effectively carry out the tasks assigned to them, it is important to accurately determine their position and orientation in the working space. Having data on the location of an AGV is crucial for the navigation process, and the most commonly used odometry method is un...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/24/12826 |
| _version_ | 1827641980532817920 |
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| author | Magdalena Dobrzanska Pawel Dobrzanski |
| author_facet | Magdalena Dobrzanska Pawel Dobrzanski |
| author_sort | Magdalena Dobrzanska |
| collection | DOAJ |
| description | In order for AGVs to be able to effectively carry out the tasks assigned to them, it is important to accurately determine their position and orientation in the working space. Having data on the location of an AGV is crucial for the navigation process, and the most commonly used odometry method is unreliable due to errors. To correct these errors, additional measuring systems are used. These systems use a variety of sensors. Some of the most widely used types are laser rangefinders. These sensors are also used in the automatic course correction methodology that is developed and presented in this article. The measurements from laser rangefinders are used to determine the shift of the actual trajectory from the set one, and then to guide the AGV to the previously set course. The developed methodology is experimentally verified on the basis of several dozen test drives. The conducted experimental studies prove the correctness of the developed methodology. The proposed course correction algorithm can be implemented in most working conditions, and guarantees correct passage over the given route. |
| first_indexed | 2024-03-09T17:22:14Z |
| format | Article |
| id | doaj.art-8dcb5bf8076f46e0ac64daec07fb52f1 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T17:22:14Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-8dcb5bf8076f46e0ac64daec07fb52f12023-11-24T13:05:25ZengMDPI AGApplied Sciences2076-34172022-12-0112241282610.3390/app122412826Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser RangefinderMagdalena Dobrzanska0Pawel Dobrzanski1Department of Technical Systems Engineering, Faculty of Management, Rzeszow University of Technology, Al. Powstancow Warszawy 10, 35-959 Rzeszow, PolandDepartment of Computer Engineering in Management, Faculty of Management, Rzeszow University of Technology, Al. Powstancow Warszawy 10, 35-959 Rzeszow, PolandIn order for AGVs to be able to effectively carry out the tasks assigned to them, it is important to accurately determine their position and orientation in the working space. Having data on the location of an AGV is crucial for the navigation process, and the most commonly used odometry method is unreliable due to errors. To correct these errors, additional measuring systems are used. These systems use a variety of sensors. Some of the most widely used types are laser rangefinders. These sensors are also used in the automatic course correction methodology that is developed and presented in this article. The measurements from laser rangefinders are used to determine the shift of the actual trajectory from the set one, and then to guide the AGV to the previously set course. The developed methodology is experimentally verified on the basis of several dozen test drives. The conducted experimental studies prove the correctness of the developed methodology. The proposed course correction algorithm can be implemented in most working conditions, and guarantees correct passage over the given route.https://www.mdpi.com/2076-3417/12/24/12826automated guided vehicleodometry errorsmeasurement methodscorrection of the course |
| spellingShingle | Magdalena Dobrzanska Pawel Dobrzanski Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder Applied Sciences automated guided vehicle odometry errors measurement methods correction of the course |
| title | Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder |
| title_full | Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder |
| title_fullStr | Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder |
| title_full_unstemmed | Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder |
| title_short | Automatic Correction of an Automated Guided Vehicle’s Course Using Measurements from a Laser Rangefinder |
| title_sort | automatic correction of an automated guided vehicle s course using measurements from a laser rangefinder |
| topic | automated guided vehicle odometry errors measurement methods correction of the course |
| url | https://www.mdpi.com/2076-3417/12/24/12826 |
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