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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)
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.ORCID iD: 0000-0001-5163-2997
2012 (English)In: Field and Service Robotics: Results of the 8th International Conference / [ed] Kazuya Yoshida & Satoshi Tadokoro, Heidelberg: Springer, 2012, 585-598 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Heidelberg: Springer, 2012. 585-598 p.
Series
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 92
National Category
Robotics Signal Processing Computer Systems
Identifiers
URN: urn:nbn:se:hh:diva-19473DOI: 10.1007/978-3-642-40686-7_39Scopus ID: 2-s2.0-84897721700ISBN: 978-364240685-0 ISBN: 978-3-642-40686-7 OAI: oai:DiVA.org:hh-19473DiVA: diva2:549620
Conference
The 8th International Conference on Field and Service Robotics, Matsushima, Miyagi, Japan, July 16-19, 2012
Projects
MALTA
Funder
Knowledge Foundation
Available from: 2012-09-05 Created: 2012-09-05 Last updated: 2016-01-08Bibliographically approved

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Publisher's full textScopushttp://www.aass.oru.se/Research/Learning/publications/2012/Andreasson_etal_FSR-2012_Gold-fish_SLAM.pdf

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CiteExportLink to record
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Citation style
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