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Optical Engineering

Photoelectric scanning-based method for positioning omnidirectional automatic guided vehicle
Author(s): Zhe Huang; Linghui Yang; Yunzhi Zhang; Yin Guo; Yongjie Ren; Jiarui Lin; Jigui Zhu
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Paper Abstract

Automatic guided vehicle (AGV) as a kind of mobile robot has been widely used in many applications. For better adapting to the complex working environment, more and more AGVs are designed to be omnidirectional by being equipped with Mecanum wheels for increasing their flexibility and maneuverability. However, as the AGV with this kind of wheels suffers from the position errors mainly because of the frequent slipping property, how to measure its position accurately in real time is an extremely important issue. Among the ways of achieving it, the photoelectric scanning methodology based on angle measurement is efficient. Hence, we propose a feasible method to ameliorate the positioning process, which mainly integrates four photoelectric receivers and one laser transmitter. To verify the practicality and accuracy, actual experiments and computer simulations have been conducted. In the simulation, the theoretical positioning error is less than 0.28 mm in a 10  m × 10  m space. In the actual experiment, the performances about the stability, accuracy, and dynamic capability of this method were inspected. It demonstrates that the system works well and the performance of the position measurement is high enough to fulfill the mainstream tasks.

Paper Details

Date Published: 21 March 2016
PDF: 12 pages
Opt. Eng. 55(3) 034105 doi: 10.1117/1.OE.55.3.034105
Published in: Optical Engineering Volume 55, Issue 3
Show Author Affiliations
Zhe Huang, Tianjin Univ. (China)
Linghui Yang, Tianjin Univ. (China)
Yunzhi Zhang, Beijing Research Institute of Aviation Engineering (China)
Yin Guo, Tianjin Univ. (China)
Yongjie Ren, Tianjin Univ. (China)
Jiarui Lin, Tianjin Univ. (China)
Jigui Zhu, Tianjin Univ. (China)

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