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Inertial navigation system for an automatic guided vehicle with Mecanum wheels

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Abstract

This paper presents an INS (inertial navigation system) for an AGV (automatic guided vehicle) with Mecanum wheels. An omni wheel or a Mecanum wheel, which has rollers attached to a conventional wheel, facilitates omni-directional driving. Most positioning systems use the encoder because it can measure precisely the rotation of the wheel. However, it is difficult to accurately calculate the position of an AGV with omni wheels or Mecanum wheels because slips occur frequently in the rollers attached to the wheels. Therefore, many studies have been carried out to compensate for the weakness of the encoders by fusing an accelerometer and a gyro sensor. However, there is still a rapid increase in the number of errors, owing to the second integral of an accelerometer. Hence, this paper proposes an INS for an AGV with Mecanum wheels. The proposed system integrates an encoder, an accelerometer, and a gyro sensor through two Kalman filters. To verify the performance of the proposed INS, we analyzed the positioning accuracy of an AGV by studying straight, sideways, and diagonal movements over a 250 cm distance in a 300 cm × 300 cm space at speeds of about 200 and 380 mm/s. The results of the experiment showed that the proposed INS can measure effectively the position of an AGV, despite frequent slips.

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Abbreviations

L :

distance between the centers of the AGV and the front or rear wheels

W :

distance between the centers of the AGV and the left or right wheels

R w :

wheel radius

ν iw :

linear velocity calculated from the rotation of the wheels

ν ir :

actual linear velocity on the ground due to the rollers attached to wheels

ν iX :

linear velocity vector of each wheel along X-axis

ν iY :

linear velocity vector of each wheel along Y-axis

ν X :

linear velocity vector of X-axis of the AGV

ν Y :

linear velocity vector of Y-axis of the AGV

ω z :

angular velocity of the AGV

\(\dot \theta _i\) :

angular velocity of the wheels

Δθ i :

angular variation of the wheels

φ z :

orientation of the AGV

Δφ z :

variation in the orientation of the AGV

ΔS X :

variation of the position along X-axis

ΔS Y :

variation of the position along Y-axis

Δν X :

variation of the velocity vector along X-axis

Δν Y :

variation of the velocity vector along Y-axis

u k :

inputs of the Kalman filter

x k :

process model

z k :

measurement model

P :

error covariance

Q :

noise covariance of the process

R :

noise covariance of the measurement

G c :

center value of an ADC for the gyro sensor

G ADC :

digital output of the gyro sensor

T c :

center value of an analog to digital conversion temperature sensor in the gyro sensor

T ADC :

digital output of a temperature in a gyro sensor

a k :

acceleration measured from an accelerometer on k-th

ν k :

velocity vector calculated from an accelerometer on k-th

S k :

position calculated from an accelerometer on k-th

w a :

noise of an acceleration

w ν :

noise of a velocity

w s :

noise of a position

d Δθ :

error in the rotational speed of the wheels

d Δφ :

error in the variation in the orientation of an AGV

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Authors and Affiliations

  1. School of Electrical Engineering, Pusan National University, Jangjeon 2-dong, Geumjeong-gu, Busan, South Korea, 609-735

    Jungmin Kim, Jaeyong Kim, Joocheol Do & Sungshin Kim

  2. Department of Interdisciplinary Cooperative Course: Robot, Pusan National University, Jangjeon 2-dong, Geumjeong-gu, Busan, South Korea, 609-735

    Seungbeom Woo

  3. ATIS Corporation, B-501, Ulsan Technopark Technical Innovation Building, 421, Daun-dong, Jung-gu, Ulsan, South Korea, 681-802

    Sunil Bae

Authors
  1. Jungmin Kim
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  2. Seungbeom Woo
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  3. Jaeyong Kim
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  4. Joocheol Do
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  5. Sungshin Kim
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  6. Sunil Bae
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Correspondence to Sungshin Kim.

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Kim, J., Woo, S., Kim, J. et al. Inertial navigation system for an automatic guided vehicle with Mecanum wheels. Int. J. Precis. Eng. Manuf. 13, 379–386 (2012). https://doi.org/10.1007/s12541-012-0048-9

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  • DOI: https://doi.org/10.1007/s12541-012-0048-9

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