Automated guided vehicle robot localization with sensor fusion
Robot localization is vital for the operation of an automated guided vehicle (AGV) but is susceptible to problems such as wheel slip. With more sensors fused together, the more environmental information can be collected by the AGV, which helps with the localization of AGV. Inertial measurement unit...
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| Format: | Book Section |
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Springer Science and Business Media Deutschland GmbH
2022
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| _version_ | 1796866915647356928 |
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| author | Dares, Marvin Goh, Kai Woon Koh, Ye Sheng Yeong, Che Fai Su, Eileen L. M. Tan, Ping Hua |
| author_facet | Dares, Marvin Goh, Kai Woon Koh, Ye Sheng Yeong, Che Fai Su, Eileen L. M. Tan, Ping Hua |
| author_sort | Dares, Marvin |
| collection | ePrints |
| description | Robot localization is vital for the operation of an automated guided vehicle (AGV) but is susceptible to problems such as wheel slip. With more sensors fused together, the more environmental information can be collected by the AGV, which helps with the localization of AGV. Inertial measurement unit (IMU) and global positioning unit (GPS) are usually implemented to improve robot localization but are susceptible to noise and are effective outdoors. Indoors, however, are more suitable with light detection and ranging (lidar) device. This paper implements extended Kalman filter (EKF) and unscented Kalman filter (UKF) for robot localization on AGV. AGV localization was tested with EKF and UKF on three different test tracks with different turn conditions. The performance of the EKF and UKF was compared to each other. Different sensors were implemented along with sensor fusion. UKF generates better odometry estimation than EKF with 24.07% better accuracy. With the usage of lidar, wheel slip was compensated. |
| first_indexed | 2024-03-05T21:19:20Z |
| format | Book Section |
| id | utm.eprints-100618 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T21:19:20Z |
| publishDate | 2022 |
| publisher | Springer Science and Business Media Deutschland GmbH |
| record_format | dspace |
| spelling | utm.eprints-1006182023-04-17T07:18:41Z http://eprints.utm.my/100618/ Automated guided vehicle robot localization with sensor fusion Dares, Marvin Goh, Kai Woon Koh, Ye Sheng Yeong, Che Fai Su, Eileen L. M. Tan, Ping Hua TK Electrical engineering. Electronics Nuclear engineering Robot localization is vital for the operation of an automated guided vehicle (AGV) but is susceptible to problems such as wheel slip. With more sensors fused together, the more environmental information can be collected by the AGV, which helps with the localization of AGV. Inertial measurement unit (IMU) and global positioning unit (GPS) are usually implemented to improve robot localization but are susceptible to noise and are effective outdoors. Indoors, however, are more suitable with light detection and ranging (lidar) device. This paper implements extended Kalman filter (EKF) and unscented Kalman filter (UKF) for robot localization on AGV. AGV localization was tested with EKF and UKF on three different test tracks with different turn conditions. The performance of the EKF and UKF was compared to each other. Different sensors were implemented along with sensor fusion. UKF generates better odometry estimation than EKF with 24.07% better accuracy. With the usage of lidar, wheel slip was compensated. Springer Science and Business Media Deutschland GmbH 2022 Book Section PeerReviewed Dares, Marvin and Goh, Kai Woon and Koh, Ye Sheng and Yeong, Che Fai and Su, Eileen L. M. and Tan, Ping Hua (2022) Automated guided vehicle robot localization with sensor fusion. In: Computational Intelligence in Machine Learning Select Proceedings of ICCIML 2021. Lecture Notes in Electrical Engineering, 834 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, pp. 135-143. ISBN 978-981168483-8 http://dx.doi.org/10.1007/978-981-16-8484-5_11 DOI:10.1007/978-981-16-8484-5_11 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Dares, Marvin Goh, Kai Woon Koh, Ye Sheng Yeong, Che Fai Su, Eileen L. M. Tan, Ping Hua Automated guided vehicle robot localization with sensor fusion |
| title | Automated guided vehicle robot localization with sensor fusion |
| title_full | Automated guided vehicle robot localization with sensor fusion |
| title_fullStr | Automated guided vehicle robot localization with sensor fusion |
| title_full_unstemmed | Automated guided vehicle robot localization with sensor fusion |
| title_short | Automated guided vehicle robot localization with sensor fusion |
| title_sort | automated guided vehicle robot localization with sensor fusion |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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