Combinatorial inertial guidance system for an automated guided vehicle

Abstract

The guidance system is an important component of AGV. In order to obtain the guidance system with low cost, high flexibility and precision, a combinatorial inertial guidance method is proposed in this paper. The inertial guidance system is composed of the encoder and the inertial measurement unit (IMU). And, on this basis, the magnetic sensor (MS) is added to correct the cumulative error. Moreover, because the IMU and MS can't identify the current location of AGV, this paper adopts the passive RFID tag to calibrate the important location of AGV to assist the AGV positioning. In addition, in order to obtain more accurate control parameters, the kalman filter (KF) is used for data processing in the system. Finally, the experiments demonstrate the effectiveness and accuracy of the proposed system.