A study on integration of particle filter and dead reckoning for efficient localization of automated guided vehicles

摘要

Nowadays, mobile robots are developed to improve work efficiency and harmonize with humans as they share working space. In particular, automated guided vehicles (AGVs) play an important role in factory automation and the industrial robotics field. This paper suggests an effective indoor localization method for AGVs, which compensates for the drawbacks of dead reckoning based on an encoder, and particle filters based on a 2D laser range finder. A method involving an asynchronous localization algorithm is proposed and its performance verified through experiments.