Development of an Omnidirectional AGV with Global Localization System

Abstract

In order to work in the narrow work space and achieve global localization, an omnidirectional AGV(Automatic Guided Vehicle) is developed. First, thearchitecture of the omnidirectional AGVwith mecanum wheels is designed to meet the motion requirement. The global localization system with accelerometer and vision sensor is introduced. The experiments show that the developed robot is able to work in workshop environment, and the global localizationsystem proved to be feasible.