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Gold-fish SLAM: an application of SLAM to localize AGVs
Örebro universitet, Akademin för naturvetenskap och teknik. (Learning Systems Lab, AASS)ORCID-id: 0000-0002-2953-1564
Örebro universitet, Akademin för naturvetenskap och teknik.
Örebro universitet, Akademin för naturvetenskap och teknik.ORCID-id: 0000-0001-5163-2997
2012 (engelsk)Inngår i: Proceedings of the International Conference on Field and Service Robotics (FSR), July 2012., 2012Konferansepaper, Publicerat paper (Annet vitenskapelig)
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 environ- ments. 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 sys- tem running at speeds up to 3 meters per second. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs.

sted, utgiver, år, opplag, sider
2012.
Emneord [en]
Mobile robotics, AGV localization
HSV kategori
Forskningsprogram
Datalogi; Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-10393OAI: oai:DiVA.org:oru-10393DiVA, id: diva2:311038
Konferanse
International Conference on Field and Service Robotics (FSR), July 2012.
Tilgjengelig fra: 2010-04-19 Laget: 2010-04-19 Sist oppdatert: 2019-04-11bibliografisk kontrollert

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