Global Localization and Position Tracking of Autonomous Transport Vehicles

摘要

This chapter presents global localization and position tracking for a swarm of autonomous transport vehicles which transport Euro-bins in a distribution center or warehouse. Localization is realized by sensor fusion of range measurements obtained from an IEEE 802.15.4a network and laser range finders. The IEEE 802.15.4a network is used for communication as well as for global localization. Laser range finders are used to detect landmarks and to provide accurate positioning for docking maneuvers. Range measurements are fused in a Monte Carlo Particle Filter. The chapter presents the design of the global localization and position tracking algorithms. Experimental results are given to prove the effectiveness of the proposed methods.