Absolute Position Measurement for Automated Guided Vehicles using the Greedy DeBruijn Sequence

摘要

Automated Guided Vehicles (AGVs) use different techniques to help locate their position with respect to a point of origin. This thesis compares two approaches that utilize a binary track laid on the floor for the AGV to follow. Both approaches use equally spaced n-tuples on the track that the AGV can use to compute its position. Both approaches also have the special feature that every n-tuple on the binary track is unique and can be used to designate the position of an AGV. The first approach, developed by E.M. Petriu, uses a Pseudo-Random Binary Sequence (PRBS) as a model for the binary track. In the second approach, we use a Greedy DeBruijn Sequence (GDBS) as a model for the binary track. Unlike the PRBS model, the GDBS model has a natural ordering which can be used to determine the position of the AGV more quickly and efficiently than the PRBS model.