Autonomous Transportation Carts using Indoor Positioning System with Hybrid Pathfinding

摘要

In this paper, we propose a system for an autonomous transportation cart which uses an Indoor Positioning System and hybrid pathfinding. This system is expected to be able to overcome issues faced by current factory AGVs, such as navigating in an environment with a lot of pedestrians, and responding to changes in its working environment. The proposed system is developed using ROS and experiments are then carried out to confirm the cart functions as intended and to evaluate the system.