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Proceedings ArticleDOI

AGV Navigation Based on AprilTags2 Auxiliary Positioning

TL;DR: The experimental results show that the navigation accuracy of the proposed system with AprilTags2 auxiliary positioning is significantly improved, and the system uses the Robot Operating System (ROS) as a platform to develop AGV navigation functions.
Abstract: Aiming at the problems of poor flexibility, complicated path maintenance and poor positioning performance in the current guidance technology of AGV, this paper designs and implements a new navigation system of automated guided vehicle (AGV) based on AprilTags2 auxiliary positioning. The system uses the Robot Operating System (ROS) as a platform to develop AGV navigation functions. The navigation system comprises two parts: the hardware and software layers. Firstly, hardware selection is performed after considering the actual requirements, performance, cost, and other factors in the hardware layer. Simultaneously, the AGV chassis and single-steering wheel walking mechanism are built to provide a stable and flexible operating platform for the software layer. Secondly, the software layer design includes two parts, namely the ROS navigation planning end and AprilTags2 detection. The ROS planning navigation end performs the design of four functional modules (i.e., AGV map construction, autonomous positioning, path planning, and path tracking), while the AprilTags2 detection part obtains the visual positioning pose of AGV by setting the AprilTags2 on each site and using the Kinect1 camera to detect. A more accurate AGV pose can be obtained by merging the former pose with the kinematic estimated pose. Finally, the two groups of positioning errors of the system before and after adding the AprilTags2 auxiliary positioning are tested and compared. The experimental results show that the navigation accuracy of the proposed system with AprilTags2 auxiliary positioning is significantly improved.
Citations
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Journal ArticleDOI
TL;DR: In this paper , the authors presented a design method for DWPT system based on automated guided vehicle (AGV), and took into account W-type structure of noncontact transformer optimization.
Abstract: In dynamic wireless power transmission (DWPT) system, the design of noncontact transformers plays a significant role in output power and its stability, which is closely related to the coupling coefficient. This article presents a design method for DWPT system based on automated guided vehicle (AGV), and takes into account W-type structure of noncontact transformer optimization. Therefore, through the adjustment of multiple physical parameters (the width of the primary coil, ferrite size, and spacing) the goal of 1.8 kW output power with minimal ferrite usage during the movement of the vehicle is achieved. Moreover, through the combination of finite element method and sensitivity analysis based on Latin hypercube sampling (LHS), a high-precision response surface is established, and the noncontact transformer is multiobjective optimized through particle swarm optimization algorithm. Finally, based on Pareto front of the optimization results, a platform based on the compensation topology of inductorcapacitorcapacitorseries(LCC-S) is built. Experimental results are highly consistent with the design, achieving 1.8 kW stable output power during AGV movement and the efficiency of the entire system reaches 92.7%.

5 citations

References
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Proceedings Article
01 Jan 2009
TL;DR: This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.
Abstract: This paper gives an overview of ROS, an opensource robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogenous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.

8,387 citations


"AGV Navigation Based on AprilTags2 ..." refers background in this paper

  • ...It also provides common toolkits and function libraries required for robot development, such as the relevant functional package of robot autonomous navigation, which can greatly improve the code reuse rate of robot development [7]....

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Journal ArticleDOI
TL;DR: This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method.
Abstract: This paper describes the simultaneous localization and mapping (SLAM) problem and the essential methods for solving the SLAM problem and summarizes key implementations and demonstrations of the method. While there are still many practical issues to overcome, especially in more complex outdoor environments, the general SLAM method is now a well understood and established part of robotics. Another part of the tutorial summarized more recent works in addressing some of the remaining issues in SLAM, including computation, feature representation, and data association

3,760 citations


Additional excerpts

  • ...SLAM is the abbreviation of Simultaneous Localization And Mapping, which is mainly used to solve the problem of simultaneous positioning and map construction of robots in the unknown environment [9]....

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Book
01 Jan 1988
TL;DR: In this article, the authors present a model for estimating parameters and fitting of probability distributions from the normal distribution. But the model is not suitable for the analysis of categorical data.
Abstract: 1. Probability. 2. Random Variables. 3. Joint Distributions. 4. Expected Values. 5. Limit Theorems. 6. Distributions Derived from the Normal Distribution. 7. Survey Sampling. 8. Estimation of Parameters and Fitting of Probability Distributions. 9. Testing Hypotheses and Assessing Goodness of Fit. 10. Summarizing Data. 11. Comparing Two Samples. 12. The Analysis of Variance. 13. The Analysis of Categorical Data. 14. Linear Least Squares. 15. Decision Theory and Bayesian Inference.

3,521 citations


"AGV Navigation Based on AprilTags2 ..." refers methods in this paper

  • ...It uses the KLD method to sample the particles [12], and the robot performs pose tracking in a known map environment....

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Proceedings ArticleDOI
16 May 2016
TL;DR: This work presents the approach used in the backpack mapping platform which achieves real-time mapping and loop closure at a 5 cm resolution and provides experimental results and comparisons to other well known approaches which show that, in terms of quality, this approach is competitive with established techniques.
Abstract: Portable laser range-finders, further referred to as LIDAR, and simultaneous localization and mapping (SLAM) are an efficient method of acquiring as-built floor plans. Generating and visualizing floor plans in real-time helps the operator assess the quality and coverage of capture data. Building a portable capture platform necessitates operating under limited computational resources. We present the approach used in our backpack mapping platform which achieves real-time mapping and loop closure at a 5 cm resolution. To achieve realtime loop closure, we use a branch-and-bound approach for computing scan-to-submap matches as constraints. We provide experimental results and comparisons to other well known approaches which show that, in terms of quality, our approach is competitive with established techniques.

1,338 citations


"AGV Navigation Based on AprilTags2 ..." refers background in this paper

  • ...Due to its powerful graph optimization algorithm and loop detection, the accumulated error can be eliminated, so the mapping effect is relatively stable, even if the lower cost radar can also run a good result [10]....

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Proceedings ArticleDOI
09 May 2011
TL;DR: This work describes a new visual fiducial system that uses a 2D bar code style “tag”, allowing full 6 DOF localization of features from a single image, incorporating a fast and robust line detection system, a stronger digital coding system, and greater robustness to occlusion, warping, and lens distortion.
Abstract: While the use of naturally-occurring features is a central focus of machine perception, artificial features (fiducials) play an important role in creating controllable experiments, ground truthing, and in simplifying the development of systems where perception is not the central objective. We describe a new visual fiducial system that uses a 2D bar code style “tag”, allowing full 6 DOF localization of features from a single image. Our system improves upon previous systems, incorporating a fast and robust line detection system, a stronger digital coding system, and greater robustness to occlusion, warping, and lens distortion. While similar in concept to the ARTag system, our method is fully open and the algorithms are documented in detail.

1,334 citations