The Indoor Automatic Guided Vehicle with an IR Positioning and Low-Cost Inertial Navigation System

In this study an indoor automatic guided vehicle (AGV) which is not a line-following type is constructed. Low-cost inertial navigation system (INS) and indoor positioning system (IPS) are proposed to replace the high-cost laser navigation system. These AGVs are guided by their own INS almost all the time of running in our system. The IPS constructed by infrareds is used to calibrate the accumulative errors of the inertial system after a specific time interval. Testing results show deviation is about 5% after long time and long distance of movement. This research proves the stability of this system which allows AGVs to work in warehouses by low-cost INS and IPS.