This paper describes a dead reckoning for a large omni-directional AGV (Automated Guided Vehicle) in outdoor environments. The vehicle drives on pneumatic wheels over ordinary pavements at speeds up to 15 km/h. The maximum payload is 10 ton. The vehicle system is controlled based on the Ackerman geometry, and thus two imaginary wheels are considered in place of the real four wheel-units assembled into the vehicle. The motion of the two imaginary wheels is kinematically decided by outputs of wheel and steering encoders attached to the four wheel-units, and the vehicle estimates its own position based on the odometry. The position estimate is improved by the information of a gyro on the vehicle chassis. The dead reckoning algorithm is formulated based on the extended Kalman filter. Experimental results validate the effectiveness of the dead reckoning.
Dead reckoning of a large outdoor AGV by fusing odometry and gyro
2000
4 Seiten, 6 Bilder, 1 Tabelle, 6 Quellen
Aufsatz (Konferenz)
Englisch
Robust dead reckoning system by fusion of odometry and gyro for mobile robot outdoor navigation
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