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.


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    Title :

    Dead reckoning of a large outdoor AGV by fusing odometry and gyro


    Contributors:
    Hashimoto, M. (author) / Furubayashi, Y. (author) / Oba, F. (author)


    Publication date :

    2000


    Size :

    4 Seiten, 6 Bilder, 1 Tabelle, 6 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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