Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization
Joint Authors
Yoon, Sang Won
Park, Seong-Bae
Kim, Jong Shik
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-07-29
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
The Mecanum automated guided vehicle (AGV), which can move in any direction by using a special wheel structure with a LIM-wheel and a diagonally positioned roller, holds considerable promise for the field of industrial electronics.
A conventional method for Mecanum AGV localization has certain limitations, such as slip phenomena, because there are variations in the surface of the road and ground friction.
Therefore, precise localization is a very important issue for the inevitable slip phenomenon situation.
So a sensor fusion technique is developed to cope with this drawback by using the Kalman filter.
ENCODER and StarGazer were used for sensor fusion.
StarGazer is a position sensor for an image recognition device and always generates some errors due to the limitations of the image recognition device.
ENCODER has also errors accumulating over time.
On the other hand, there are no moving errors.
In this study, we developed a Mecanum AGV prototype system and showed by simulation that we can eliminate the disadvantages of each sensor.
We obtained the precise localization of the Mecanum AGV in a slip phenomenon situation via sensor fusion using a Kalman filter.
American Psychological Association (APA)
Yoon, Sang Won& Park, Seong-Bae& Kim, Jong Shik. 2015. Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization. Journal of Sensors،Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1070102
Modern Language Association (MLA)
Yoon, Sang Won…[et al.]. Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization. Journal of Sensors No. 2015 (2015), pp.1-7.
https://search.emarefa.net/detail/BIM-1070102
American Medical Association (AMA)
Yoon, Sang Won& Park, Seong-Bae& Kim, Jong Shik. Kalman Filter Sensor Fusion for Mecanum Wheeled Automated Guided Vehicle Localization. Journal of Sensors. 2015. Vol. 2015, no. 2015, pp.1-7.
https://search.emarefa.net/detail/BIM-1070102
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070102