Strategies for contour-based self-localization in large-scale modern warehouses

Abstract

Latest Automated Guided Vehicles (AGVs) localize themselves by triangulation based on reflector landmarks detected by Laserscanners. The number of reflectors ranges from hundreds to thousands. Every reflector must be mounted and precisely located by skilled personnel. Additionally, the AGV cannot locate itself if no reflectors are in the field of view; furthermore, any change in the factory layout requires the position of the reflectors to be modified accordingly. One aim of the PAN-Robots project' is a seamless transition between reflector- and contour-based localization as well as localization in unknown areas to guarantee optimal localization performance for safe and efficient AGV operation.