Paper Info
Title
Independence localization system for Mecanum wheel AGV
Abstract
This study deals with the independent localization system of AGV which is sensor fusion strapdown inertial navigation system and laser navigation to develope more fast and accurate for the AGV. the strapdown inertial navigation system is very expensive and has large system. Hence, we propose the independent and stable localization system with sensor fusion using a low-cost strapdown inertial navigation system which consists of MEMS inertial sensor. To reduce errors of the strapdown inertial navigation system, we performed compensation using proportional method to gyro sensor and low-pass filter to accelerometer. We used transformation matrix with a result of attitude reference using Kalman filter. Finally, to compensate the result of error, fuzzy inference system is used. To verify the performance of the proposed system, experiments is performed with a Mecanum wheeled AGV and a forklift AGV. In the experiments result, we confirmed that the proposed system can estimate the position.
Year
DOI
Venue
2013
10.1109/ROMAN.2013.6628444
RO-MAN
Keywords
Field
DocType
mecanum wheel agv,sensor fusion strapdown inertial navigation system,fuzzy reasoning,kalman filter,low-cost strapdown inertial navigation system,kalman filters,transformation matrix,gyro sensor,independence localization system,automatic guided vehicles,accelerometer,microsensors,mobile robots,fuzzy inference system,stable localization system,low-pass filter,wheels,mems inertial sensor,telerobotics,gyroscopes,inertial navigation,forklift agv,sensor fusion,laser navigation
Mecanum wheel,Inertial navigation system,Computer vision,Gyroscope,Accelerometer,Computer science,Kalman filter,Sensor fusion,Artificial intelligence,Inertial reference unit,Mobile robot
Conference
ISSN
Citations 
PageRank 
1944-9445
0
0.34
References 
Authors
5
6
Name
Order
Citations
PageRank
Hyunhak Cho1184.29
Hajun Song231.57
Moonho Park301.35
Jaeyong Kim4122.36
Seungbeom Woo500.34
Sungshin Kim621064.17