In this paper we consider the global localization problem for an industrial AGV moving in a known environment. The problem consists of determining the pose of the vehicle without any prior information about its location. The vehicle is supposed to be equipped with a laser scanner that allows to measure the range and bearing of the vehicle with respect to a set of anonymous landmarks. A map with the positions of all landmarks in the environment is available to the localization system. We propose a novel algorithm for AGV self-localization based on landmarks identification that can take into account also false detections, very common in industrial environments. The pose is computed with a single scan (2D), without any sensor fusion. The performance of the proposed strategy is shown both by simulations and experiments on real industrial plants.

AGV Global Localization Using Indistinguishable Artificial Landmarks / D., Ronzoni; R., Olmi; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2011), pp. 287-292. ((Intervento presentato al convegno 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 tenutosi a Shanghai nel 9-13/05/2011 [10.1109/ICRA.2011.5979759].

AGV Global Localization Using Indistinguishable Artificial Landmarks

SECCHI, Cristian;FANTUZZI, Cesare
2011

Abstract

In this paper we consider the global localization problem for an industrial AGV moving in a known environment. The problem consists of determining the pose of the vehicle without any prior information about its location. The vehicle is supposed to be equipped with a laser scanner that allows to measure the range and bearing of the vehicle with respect to a set of anonymous landmarks. A map with the positions of all landmarks in the environment is available to the localization system. We propose a novel algorithm for AGV self-localization based on landmarks identification that can take into account also false detections, very common in industrial environments. The pose is computed with a single scan (2D), without any sensor fusion. The performance of the proposed strategy is shown both by simulations and experiments on real industrial plants.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Shanghai
9-13/05/2011
287
292
D., Ronzoni; R., Olmi; Secchi, Cristian; Fantuzzi, Cesare
AGV Global Localization Using Indistinguishable Artificial Landmarks / D., Ronzoni; R., Olmi; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2011), pp. 287-292. ((Intervento presentato al convegno 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 tenutosi a Shanghai nel 9-13/05/2011 [10.1109/ICRA.2011.5979759].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/738075
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