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An INS-UWB Based Collision Avoidance System for AGV

Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo 361102, China
Ningbo Cigarette Factory, China Tobacco Zhejiang Industrial Co., Ltd., Hangzhou 315500, China
International Business Department, China Tobacco Zhejiang Industrial Co., Ltd., Hangzhou 310008, China
Author to whom correspondence should be addressed.
Algorithms 2019, 12(2), 40;
Received: 20 December 2018 / Revised: 9 February 2019 / Accepted: 13 February 2019 / Published: 18 February 2019
(This article belongs to the Special Issue Modeling Computing and Data Handling for Marine Transportation)
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As a highly automated carrying vehicle, an automated guided vehicle (AGV) has been widely applied in various industrial areas. The collision avoidance of AGV is always a problem in factories. Current solutions such as inertial and laser guiding have low flexibility and high environmental requirements. An INS (inertial navigation system)-UWB (ultra-wide band) based AGV collision avoidance system is introduced to improve the safety and flexibility of AGV in factories. An electronic map of the factory is established and the UWB anchor nodes are deployed in order to realize an accurate positioning. The extended Kalman filter (EKF) scheme that combines UWB with INS data is used to improve the localization accuracy. The current location of AGV and its motion state data are used to predict its next position, decrease the effect of control delay of AGV and avoid collisions among AGVs. Finally, experiments are given to show that the EKF scheme can get accurate position estimation and the collisions among AGVs can be detected and avoided in time. View Full-Text
Keywords: AGV; INS; UWB; collision avoidance AGV; INS; UWB; collision avoidance

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Sun, S.; Hu, J.; Li, J.; Liu, R.; Shu, M.; Yang, Y. An INS-UWB Based Collision Avoidance System for AGV. Algorithms 2019, 12, 40.

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