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Gold-Fish SLAM: An Application of SLAM to Localize AGVs
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (AASS MRO Lab)
Högskolan i Halmstad, CAISR Centrum för tillämpade intelligenta system (IS-lab).
Högskolan i Halmstad, CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID iD: 0000-0001-5163-2997
2014 (English)In: Field and Service Robotics: Results of the 8th International Conference / [ed] Yoshida, Kazuya; Tadokoro, Satoshi, Heidelberg, Germany: Springer Berlin/Heidelberg, 2014, 585-598 p.Chapter in book (Refereed)
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 environments. 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 system running at speeds up to 3 m/s. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs

Place, publisher, year, edition, pages
Heidelberg, Germany: Springer Berlin/Heidelberg, 2014. 585-598 p.
Series
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 92
National Category
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-41306DOI: 10.1007/978-3-642-40686-7_39Scopus ID: 2-s2.0-84897721700Libris ID: 15155276ISBN: 978-3-642-40685-0 (print)ISBN: 978-3-642-40686-7 (print)OAI: oai:DiVA.org:oru-41306DiVA: diva2:780294
Projects
MALTA
Available from: 2014-08-28 Created: 2015-01-14 Last updated: 2017-10-17Bibliographically approved

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Publisher's full textScopushttp://dx.doi.org/10.1007/978-3-642-40686-7_39

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