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Article

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Title

Passive wheels – A new localization system for automated guided vehicles

Authors

[ 1 ] Instytut Technologii Mechanicznej, Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ 2 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies
[2.9] Mechanical engineering

Year of publication

2024

Published in

Heliyon

Journal year: 2024 | Journal volume: vol. 10 | Journal number: iss. 15

Article type

scientific article

Publication language

english

Keywords
EN
  • AGV
  • mobile robots
  • localization
  • dead reckoning
Abstract

EN This article introduces passive wheels as the new localization system for automated guided vehicles (AGVs). The article focuses on investigating the accuracy of the proposed system and comparing with other widely used solutions: rotary encoders coupled with drive wheels, AHRS and LiDAR scanner. The fusion of dead reckoning and inertial data is acquired by the implementation of the Kalman filter. On the other hand, the fusion of LiDAR data depends on application of the AMCL or the graph-based algorithm. The study was conducted on five different scenarios, designed to investigate the influence of specific types of movements on the performance of tested localization methods. Results indicate, that passive wheels dead reckoning outperforms drive wheels dead reckoning in most scenarios, minimizing errors due to reduced both longitudal and lateral slippages, which appear during AGV accelerating, decelerating and turning. AHRS integration improves accuracy, especially in scenarios involving significant amount of angular motion. LiDAR-based methods in short term show mediocre results, due to relatively high, but steady values of error. The study highlights the importance of the map’s quality for LiDAR-based techniques and points up the conditions, under which the LiDAR-based techniques do not operate very well. In conclusion, the research provides insights into the strengths and weaknesses of various AGV localization techniques in various movement scenarios, emphasizing the impact of sensor choice and path-shape conditions on accuracy.

Pages (from - to)

e34967-1 - e34967-15

DOI

10.1016/j.heliyon.2024.e34967

URL

https://www.sciencedirect.com/science/article/pii/S240584402410998X

Comments

Article number: e34967

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Full text of article

Download file

Access level to full text

public

Ministry points / journal

40

Impact Factor

3,4 [List 2023]

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