Sensor Fusion for Indoor Navigation and Tracking of Automated Guided Vehicles

Speaker: Risang Gatot Yudanto

Company/ Institute: Flanders Make

Event: 20th work meeting

Date: 8 December 2015


Wireless indoor positioning is gaining a lot of momentum and seems to be on the verge of a breakthrough, with many potential applications. Indoor navigation and tracking of Automated Guided Vehicles (AGVs) in factories and warehouses is a particularly challenging application, since these vehicles not only move at high speeds, requiring high position update rates, but also regularly perform complex maneuvers (e.g. picking up a load), requiring low position errors. To adequately fulfill the requirements of AGV applications, Flanders Make presents a novel Kalman Filter (KF) based sensor fusion method that optimally combines the position measurements from a wireless Ultra Wide Band (UWB) indoor positioning system with the measurements from a low-cost Inertial Navigation System (INS) including MEMS accelerometers and gyroscopes. The sensor fusion method has been validated online on an indoor robot performing highly dynamic linear and rotational movements.

Slides: click here to download (Community members only, login required)