In this paper, automated guided vehicles (AGVs) control in indoors quasi-structured environments is considered where mismatched wheels radius systematical errors corresponding to differential-drive based AGVs are presented. The main wheels radius mismatch effect stems from wearage and mechanical imperfections and tolerance, and it leads to dead-reckoning navigation performance decrement. Each AGV follows trajectories composed of lines and changes of direction events, because their path planning can be done off-line due to the quasi-structured environment condition. Past work was published where systematical errors had AGV dead-reckoning estimated pose influence on system accuracy. In this paper, these results are further demonstrated through an experimental setup in which an AGV is controlled to follow a trajectory and dead-reckoning induced systematical errors are computed. The results confirm that heading measurement accuracy can greatly influence dead-reckoning performance even in the presence of strong detrimental AGV errors effects.
AGV control in the presence of localization systematical errors
2007
5 Seiten, 6 Bilder, 9 Quellen
Conference paper
English
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