Research on AGV positioning and path planning technology based on ultra wideband

Xiaohao Hu; Zai Luo; Qi Liu; Wensong Jiang

doi:10.1117/12.2548285

13 November 2019 Research on AGV positioning and path planning technology based on ultra wideband

Xiaohao Hu, Zai Luo, Qi Liu, Wensong Jiang

Proceedings Volume 11343, Ninth International Symposium on Precision Mechanical Measurements; 113430N (2019) https://doi.org/10.1117/12.2548285
Event: International Symposium on Precision Mechanical Measurements 2019, 2019, Chongqing, China

Abstract

Since the traditional guidance technology of the AGV (Automatic Guidance Vehicle) has high environmental requirements and insufficient guidance flexibility, an positioning and guidance system of the AGV is proposed based on an UWB (Ultra WideBand) indoor positioning technology. Firstly, a time-based bidirectional ranging method is combined with a multi-base station positioning algorithm to locate the AGV. Secondly, the error generated by the positioning result is compensated to obtain the most accurate AGV actual coordinates. Thirdly the path of the AGV in the actual environment is programmed by using the weighted A* algorithm under different road conditions. The experimental result shows that the AGV with UWB indoor positioning technology has advantages of a high guiding flexibility, simple to use, good safety, stability, and high practical value.

Citation Download Citation

Xiaohao Hu, Zai Luo, Qi Liu, and Wensong Jiang "Research on AGV positioning and path planning technology based on ultra wideband", Proc. SPIE 11343, Ninth International Symposium on Precision Mechanical Measurements, 113430N (13 November 2019); https://doi.org/10.1117/12.2548285

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