Gold-Fish SLAM: An Application of SLAM to Localize AGVs
نویسندگان
چکیده
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 3 meters per second. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs.
منابع مشابه
New Adaptive UKF Algorithm to Improve the Accuracy of SLAM
SLAM (Simultaneous Localization and Mapping) is a fundamental problem when an autonomous mobile robot explores an unknown environment by constructing/updating the environment map and localizing itself in this built map. The all-important problem of SLAM is revisited in this paper and a solution based on Adaptive Unscented Kalman Filter (AUKF) is presented. We will explain the detailed algorithm...
متن کاملEfficient particle filter algorithm for ultrasonic sensor based 2D range-only SLAM application
Simultaneously localization and mapping (SLAM) is a fundamental topic in robotics and mobile computing communities. Owning to low cost and relatively accurate measurement, ultrasonic sensors are widely used in range only SLAM applications. But these applications are challenging to accurately obtain an initial position given to the SLAM algorithm, and robustly localize the targets in a highly dy...
متن کاملSlam with Klt Point Features
In the simultaneous localization and mapping (SLAM) problem, a mobile robot must localize itself in an unknown environment using its sensors and at the same time construct a map of that environment. While SLAM utilizing costly (expensive, heavy and slow) laser range finders as a sensor has been very successful in both indoor and outdoor environments, large-scale SLAMwith cost-effective visionba...
متن کاملSalient Visual Features to Help Close the Loop in 6D SLAM
One fundamental problem in mobile robotics research is Simultaneous Localization and Mapping (SLAM): A mobile robot has to localize itself in an unknown environment, and at the same time generate a map of the surrounding area. One fundamental part of SLAM algorithms is loop closing: The robot detects whether it has reached an area that has been visited before, and uses this information to impro...
متن کاملSlam protein dictates subcellular localization and translation of its own mRNA
Many mRNAs specifically localize within the cytoplasm and are present in RNA-protein complexes. It is generally assumed that localization and complex formation of these RNAs are controlled by trans-acting proteins encoded by genes different than the RNAs themselves. Here, we analyze slow as molasses (slam) mRNA that prominently colocalizes with its encoded protein at the basal cortical compartm...
متن کامل