A new method of AGV navigation based on Kalman Filter and a magnetic nail localization

摘要

Unmanned Automatic Guided Vehicle (AGV) is a critical part of advanced manufacturing system. The navigation and localization technology are the key components of AGV design. In this paper, we propose a navigation method based on Kalman Filter and a magnetic nail localization. By the method, the state equation can be obtained by carrying out the kinematics analysis. Heading angle and position can be estimated by data from gyroscope and encoders using Kalman Filter (KF) algorithm, and they can be also adjusted once the vehicle pass through a magnetic nail. The magnetic nails localization method improves the navigation accuracy with low-cost.