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- Wernersson, Åke, et al.
(författare)
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Vehicle navigation using image information on association errors
- 1989
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Ingår i: Intelligent autonomous systems. - Amsterdam : Stichting International Congress of Intelligent Autonomous Systems. - 9080041033 ; , s. 814-822
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Konferensbidrag (refereegranskat)abstract
- Describes how image-like measurements can be used for accurate navigation of a vehicle. The `camera' is a rotating laser scanner and the `landmarks' are stripes of identical retroreflecting tape. This arrangement can be seen as a linear circular 360 degree camera with a rotating scanning at a rate of 1 scan/second. The most likely objects the `camera' will see are these identical pieces of tape. Tests were carried out using an AGV (Autonomous Guided Vehicle) running on a floor. At a speed of 0.3 m/s the trajectory fluctuates less than ±2 mm. For this special case it is possible to give a fairly complete and rigorous mathematical model. The model includes the motion, the sensor, missing and erroneous measurements etc
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- Wiklund, Urban, et al.
(författare)
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AGV navigation by angle measurements
- 1988
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Ingår i: Automated guided vehicle systems. - Kempston, Bedford : IFS. - 1854230247 ; , s. 199-212
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Konferensbidrag (refereegranskat)abstract
- Describes an optical navigation system for the navigation and control of an autonomous guided vehicle (AGV). The navigation system consists of a low-power laser, a rotating mirror and the necessary optics. It is used to measure the angles to several identical reflective beacons. The position and heading of the AGV is recursively updated each time a valid angle is measured. It is easy to define and change the drive path which is a list of coordinates. The AGV follows straight lines between these coordinates. The system has been tested on an AGV prototype
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