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Gold-fish SLAM: an application of SLAM to localize AGVs
Örebro University, School of Science and Technology. (Learning Systems Lab, AASS)ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.ORCID iD: 0000-0001-5163-2997
2012 (English)In: Proceedings of the International Conference on Field and Service Robotics (FSR), July 2012., 2012Conference paper, Published paper (Other academic)
Abstract [en]

The main focus of this paper is to present a case study of a SLAM solution for Automated Guided Vehicles (AGVs) operating in real-world industrial environ- ments. The studied solution, called Gold-fish SLAM, was implemented to provide localization estimates in dynamic industrial environments, where there are static landmarks that are only rarely perceived by the AGVs. The main idea of Gold-fish SLAM is to consider the goods that enter and leave the environment as temporary landmarks that can be used in combination with the rarely seen static landmarks to compute online estimates of AGV poses. The solution is tested and verified in a factory of paper using an eight ton diesel-truck retrofitted with an AGV control sys- tem running at speeds up to 3 meters per second. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs.

Place, publisher, year, edition, pages
2012.
Keyword [en]
Mobile robotics, AGV localization
National Category
Computer Science
Research subject
Computer and Systems Science; Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-10393OAI: oai:DiVA.org:oru-10393DiVA: diva2:311038
Conference
International Conference on Field and Service Robotics (FSR), July 2012.
Available from: 2010-04-19 Created: 2010-04-19 Last updated: 2017-02-23Bibliographically approved

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Andreasson, HenrikBouguerra, AbdelbakiRögnvaldsson, Thorsteinn
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