NDLI: Implementation of laser navigation system using particle filter

Content Provider	IEEE Xplore Digital Library
Author	Eunkook Jung Hyunhak Cho Joocheol Do Jungmin Kim Sungshin Kim
Copyright Year	2011
Description	Author affiliation: Department of Interdisciplinary Cooperative Course: Robot, Pusan National University, 609-735, Korea (Eunkook Jung; Hyunhak Cho) \|\| Department of Electrical Engineering, Pusan National University, 609-735, Korea (Joocheol Do; Jungmin Kim; Sungshin Kim)
Abstract	This paper presents a positioning method of the laser guidance with a particle filter for an AGV (automatic guided vehicle). Wired guidance and magnetic guidance system have been used mainly for AGV's guidance in industry. However, these guidance systems have an expensive installation cost and a difficult maintenance. Therefore, the laser guidance system as a wireless guidance system is increasingly used. However, this system has a number of positioning errors when the AGV turns or moves fast by the characteristics of the laser guidance which detects reflectors using a rotating header within the particular operating environment. Hence, this paper proposes a positioning method to improve the performance of the laser guidance system. The proposed system integrates two encoders, a gyro sensor and laser guidance through the particle filter. To verify the performance of the proposed positioning method, we compare the positioning accuracy of the proposed method with an existing product of the laser guidance system. The experimental results show that the proposed method is more accurate than the existing product.
Starting Page	1636
Ending Page	1638
File Size	889160
Page Count	3
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	AGV localization laser navigation Navigation Measurement by laser beam Robot sensing systems sensor fusion Particle filters particle filter Laser fusion
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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