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Gold-fish SLAM: An application of SLAM to localize AGVs
Örebro University, Örebro, Sweden. (AASS, Dept. of Technology)
Örebro University, Örebro, Sweden. (AASS, Dept. of Technology)
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID-id: 0000-0001-5163-2997
2014 (Engelska)Ingår i: Field and Service Robotics: Results of the 8th International Conference / [ed] Kazuya Yoshida & Satoshi Tadokoro, Heidelberg: Springer, 2014, s. 585-598Konferensbidrag, Publicerat paper (Refereegranskat)
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 environments. 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 system running at speeds up to 3m/s. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs. © Springer-Verlag Berlin Heidelberg 2014.

Ort, förlag, år, upplaga, sidor
Heidelberg: Springer, 2014. s. 585-598
Serie
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 92
Nationell ämneskategori
Robotteknik och automation Signalbehandling Datorsystem
Identifikatorer
URN: urn:nbn:se:hh:diva-19473DOI: 10.1007/978-3-642-40686-7_39Scopus ID: 2-s2.0-84897721700ISBN: 978-3-642-40685-0 (digital)ISBN: 978-3-642-40686-7 (tryckt)OAI: oai:DiVA.org:hh-19473DiVA, id: diva2:549620
Konferens
The 8th International Conference on Field and Service Robotics, Matsushima, Miyagi, Japan, July 16-19, 2012
Projekt
MALTA
Forskningsfinansiär
KK-stiftelsenTillgänglig från: 2012-09-05 Skapad: 2012-09-05 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

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Förlagets fulltextScopushttp://www.aass.oru.se/Research/Learning/publications/2012/Andreasson_etal_FSR-2012_Gold-fish_SLAM.pdf

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Åstrand, BjörnRögnvaldsson, Thorsteinn

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