Gold-fish SLAM : an application of SLAM to localize AGVs

• The main focus of this paper is to present a case study of a SLAM solution for Automated Guided Vehicles (AGVs) operating in real-world industrial environ- ments. The studied solution, called Gold-fish SLAM, was implemented to provide localization estimates in dynamic industrial environments, where there are static landmarks that are only rarely perceived by the AGVs. The main idea of Gold-fish SLAM is to consider the goods that enter and leave the environment as temporary landmarks that can be used in combination with the rarely seen static landmarks to compute online estimates of AGV poses. The solution is tested and verified in a factory of paper using an eight ton diesel-truck retrofitted with an AGV control sys- tem running at speeds up to 3 meters per second. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs.

Subject headings

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Keyword

Mobile robotics

AGV localization

Datalogi

Computer and Systems Science

Computer Science

Datavetenskap

Publication and Content Type

vet (subject category)

kon (subject category)