6533b7defe1ef96bd1275955

RESEARCH PRODUCT

Navigation Performance Evaluation for AutomaticGuided Vehicles

Roger BostelmanTsai HongGerry Cheok

subject

test method[ INFO ] Computer Science [cs]ComputingMethodologies_SIMULATIONANDMODELINGautomatic guided vehicleComputerApplications_COMPUTERSINOTHERSYSTEMSperformance measurement[INFO] Computer Science [cs]mobile robotground truthASTM F45

description

International audience; —Automatic guided vehicles (AGVs), an industrial form of a mobile robot,typically navigate using a central computer commanding AGV movement on predefined paths. How well they follow these paths is not well-defined in research articles and their performance is reported in non-standard manufacturer specifications. Furthermore, AGV technology is advancing towards vision guidance to map and localize their position from onboard the vehicle, whereas performance evaluation of advanced navigation techniques is just beginning. This paper describes AGV experiments using ground truth measurement comparisonfor performance evaluationof AGV navigation. A generic test procedure and metrics, described herein,are to berecommended to ASTM F45, a recently formed committee on performance of AGVs, as a navigation test method for use by the AGV and mobile robot industries.

yearjournalcountryeditionlanguage
2015-05-11
https://hal.archives-ouvertes.fr/hal-01401573