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Titolo:
Analysis of landmark configuration for absolute positioning of autonomous vehicles
Autore:
Shoval, S; Sinriech, D;
Indirizzi:
Ariel Coll, Dept Ind Engn & Management, Ari El, Israel Ariel Coll Ari ElIsrael ll, Dept Ind Engn & Management, Ari El, Israel Technion Israel Inst Technol, Fac Ind Engn & Management, IL-32000 Haifa, Israel Technion Israel Inst Technol Haifa Israel IL-32000 L-32000 Haifa, Israel
Titolo Testata:
JOURNAL OF MANUFACTURING SYSTEMS
fascicolo: 1, volume: 20, anno: 2001,
pagine: 44 - 54
SICI:
0278-6125(2001)20:1<44:AOLCFA>2.0.ZU;2-G
Fonte:
ISI
Lingua:
ENG
Soggetto:
SYSTEMS; DESIGN;
Keywords:
automated guided vehicles (AGV); landmark navigation; material handling; triangulation; error position;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
--discip_EC--
Citazioni:
15
Recensione:
Indirizzi per estratti:
Indirizzo: Shoval, S Ariel Coll, Dept Ind Engn & Management, Ari El, Israel Ariel Coll Ari El Israel nd Engn & Management, Ari El, Israel
Citazione:
S. Shoval e D. Sinriech, "Analysis of landmark configuration for absolute positioning of autonomous vehicles", J MANUF SYS, 20(1), 2001, pp. 44-54

Abstract

Landmark navigation is a common positioning method for material handling vehicles operating in industrial environments. The position is calculated based on relative measurements to landmarks, the locations of which are knownin advance. This paper analyzes the sensitivity of absolute positioning techniques to noisy data and landmark configuration, aiming to determine landmark positioning guidelines to improve the accuracy of the material handling vehicle's navigation. An error sensitivity map (ESM) shows the critical zones where calculation is especially susceptible to erroneous data. These zones are then combined with the accuracy required by the operational constraints to determine the preferred landmarks' configuration. Results of analytical and simulated tests and their effect on the vehicle's dynamic performance are presented. Finally, an example that incorporates the analysis results is presented.

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Documento generato il 07/04/20 alle ore 03:49:42