Guide automotive vehicles using inertial sensors and virtual lines
Keywords:
Inertial navigation, Inertial sensor, Magnetic reference point, Automated guided vehicle, AGVAbstract
The navigation method is a very important factor that decides the flexibility and accurcy of the AGV in different operating enviroments. Each navigation method has an own method of determining the position and angle of the vehicle. In this research the position and angle of the AGV are estimated by data of the inertial sensor, the encoder and caculated by the Kalman filter algorithm. In addition, the measurement errors of angle and position are corrected when the AGV passes through the magnet reference points that is embedded under the floor on the virtual paths. The simulation results received have proved the accuracy of the proposed algorithm.
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