Optimization of indoor localization of Automated Guided Vehicles using ultra-wideband wireless positioning sensors

摘要

The present work describes the algorithmic and hardware engineering perspectives used to build an optimized Automated Guided Vehicle (AGV) robot which can efficiently navigate a warehouse floor plan using a combination of indoor, ultra-wideband wireless positioning sensors, and ultrasonic sensors for obstacle distance measurement and avoidance. The methods behind the trigonometric algorithm modeling are outlined, and several performance tests of the wireless localization system are achieved, both in clear line-of-sight and with adding static, respectively dynamic random interference, in order to verify the high accuracy of the proposed solution.