WO1995029380A1 - Systeme de navigation pour vehicules a guidage automatique et robots mobiles rapides - Google Patents

Systeme de navigation pour vehicules a guidage automatique et robots mobiles rapides Download PDF

Info

Publication number
WO1995029380A1
WO1995029380A1 PCT/US1995/004550 US9504550W WO9529380A1 WO 1995029380 A1 WO1995029380 A1 WO 1995029380A1 US 9504550 W US9504550 W US 9504550W WO 9529380 A1 WO9529380 A1 WO 9529380A1
Authority
WO
WIPO (PCT)
Prior art keywords
retroreflectors
navigation
determining
range
targets
Prior art date
Application number
PCT/US1995/004550
Other languages
English (en)
Inventor
Sorin Faibish
Yitzhak Adorian
Amos Ben-Zvi
Original Assignee
Siman Sensors & Intelligent Machines Ltd.
Friedman, Mark, M.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siman Sensors & Intelligent Machines Ltd., Friedman, Mark, M. filed Critical Siman Sensors & Intelligent Machines Ltd.
Publication of WO1995029380A1 publication Critical patent/WO1995029380A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Definitions

  • the present invention relates to positioning and orientation systems for vehicles moving in an unstructured area and, more particularly, to systems which make it possible for vehicles, such as mobile robots, automated guided vehicles (AGV's), SGV's, and the like, to move through areas which have not been previously prepared with wall markings, or wired, or equipped with tracks or similar mechanisms.
  • vehicles such as mobile robots, automated guided vehicles (AGV's), SGV's, and the like.
  • AGV's automated guided vehicles
  • SGV's SGV's
  • the fast movement of the vehicles serves to improve productivity.
  • Vehicles having high speeds, such as 3 m/s are currently envisioned as the next generation of automated vehicles.
  • the navigation methods described in some of the above-referenced references are based on devices which detect the position of external retroreflective targets, which are pre-arranged in a suitable pattern throughout the operational site.
  • the navigation methods described in the above-referenced publications are largely inadequate for applications involving the use of relatively fast moving vehicles.
  • the shortcomings of these techniques stem largely from their limited capability of measuring ranges at high vehicle speeds like in the case of ultrasonic or acoustic rangefinders based navigation devices; the requirement of long integration times as in the case of laser phase shift based sensors; the difficulty of tracking the targets as in the case of time-of-flight dual range and angle measuring laser based systems.
  • Methods are available for the auto-navigation of AGV's based on angle measurements and triangulation. Some of these use laser radiation reflected from targets. Such methods typically compute the position of the vehicle by triangulation techniques and do not use a direct range measurement.
  • the targets may be coded so as to identify themselves to the vehicle sensor or precisely placed at known locations. For example, a bar code system is used in the TURTLE system described in the FMS magazine of July 1983 and referenced in U.S. Patent No. 4,811,228. These methods are generally based on relative navigation and thus require the use of additional data, such as those supplied by an odometer device or previous knowledge and identification of the unseen targets.
  • the navigation based on triangulation requires that all of the targets be visible in the field of view or at least having known position.
  • Momentary obstruction of a target, or the addition of an unknown target may bring about the failure of the navigation process, leading to degraded performance.
  • Such situations may occur frequently where the operational site is populated by persons, other vehicles, or physical obstructions.
  • a large area autonomous vehicle system comprising: (a) a platform; (b) controllable means for displacement of the platform; (c) navigation means for controlling the operation of the controllable means, the navigation means including: (1) a plurality of selectably placeable retroreflectors; (2) a scanning rangefinder mounted on the platform, the rangefinder directing pulses of radiation toward the retroreflectors; (3) bearing means associated with the scanning rangefinder for determining the azimuthal orientation of at least some of the retroreflectors; (4) range determining means associated with the scanning rangefinder for determining the range of at least some of the retroreflectors, the range determining means including at least one optical fiber through which some of the radiation is routed and further including means for determining the difference in arrival time of radiation from the retroreflectors and through the optical fiber; and (5) means responsive to the sensed range and angular orientation of the retroreflectors for providing operating instructions to the controllable means.
  • system further including means for calculating travelled distance using template matching.
  • the area is divided into a plurality of adjoining frames, each of the frames made up of a plurality of the retroreflectors, with the possibility of adding additional frames during operations.
  • the present invention is of a complex laser-based navigation method and apparatus for vehicles having fast movements capabilities, which provides position, heading, velocity and traveled distance, together with their reliability factor.
  • the position, heading and velocity are computed using range and angle measurements to a plurality of retroreflective targets.
  • FIG. 1 is a schematic depiction of navigation system according to the present invention
  • FIG. 2 schematically depicts in more detail the laser transmitter according to the present invention
  • FIG. 3 schematically depicts in more detail the receiver according to the present invention
  • FIG. 4 is a timing diagram to explain the inverse time of flight method
  • FIG. 5 shows the coordinate and device coordinate systems
  • FIGS. 6 and 7 illustrate the method determining the location of the targets
  • FIG. 8 illustrates a single frame for use with a navigation system according to the present invention
  • FIG. 9 illustrates a series of frames for use with navigation system according to the present invention.
  • the present invention is of a navigation system for automated vehicles and mobile robots which can be used to simply and effectively be deployed for use in driving a vehicle or robot.
  • the present invention provides an improved system featuring high precision positioning and velocity determination intended especially for vehicles capable of fast movements.
  • the laser navigation apparatus includes a scanning laser range finder, a time measuring facility, an optical assembly, an analog signal processing unit, a micro-controller, and a main navigation computer containing the layout of the plurality of targets.
  • a system according to the present invention includes a laser pulse emitter 10 such as a GaAs laser diode, which generates light pulses.
  • the pulses are generated at a high repetition rate in order to provide the system with a high update rate, to enhance precision.
  • the generated light pulses are split into two portions by an optical beam splitter 31. That part of the beam which passes through the beam splitter is shaped into a narrow beam by the optics 38.
  • the light beam is deflected by the rotating mirror 40 of the scanner 14 and directed towards a plurality of pre-arrayed retro-reflective targets 16, for example, a post
  • the other part of the laser beam is focused by the optics onto the edges of a plurality of optical fibers of different lengths.
  • the light reflected from the targets is collected and focused on a photodetector diode
  • the light pulses traveling through the optical fibers arrive at the same photodetector but at different times.
  • the photodetector converts the light pulses into electric signals which are amplified by the amplifier 44 and fed into the analog signal and a main navigation computer containing the layout of the plurality of targets.
  • the laser transmitter emits light pulses at a high repetition rate, through the optical assembly.
  • the laser radiation is split optically into several portions. At least one of those is formed into a narrow beam and directed by the scanner towards the targets, while the rest are fed into a plurality of optical fibers. A fraction of the reflected light from the target is collected and focused on a photo detector by the receiver optics. The light energy from the optical fibers reaches the same photo detector at different times.
  • the detector's output is amplified by an analog data compression amplifier (for example, a logarithmic amplifier) and fed into an analog signal processing unit which calculates the time differences between the arrival of the different light pulses at the detector.
  • an analog data compression amplifier for example, a logarithmic amplifier
  • An analog to digital converter converts the signal into its digital representation form and the micro-controller transfers it to the main computer.
  • Each pulse returned from a target is assigned a time-tag with respect to the scanner zero crossing moment, which is sensed by an electro- optic position sensor (for example OPB804 reflective optic sensor).
  • electro- optic position sensor for example OPB804 reflective optic sensor.
  • These time quanta and time tags are used by the main computer to calculate the angle of the line of sight to the targets.
  • the location of each target relative to the apparatus is used to calculate the absolute position of the vehicle and its heading, as well as certain other parameters.
  • the resulting calculation processor 45 calculates the time differences between the arrival times of the different pulses.
  • the length of the shortest fiber must provide a delay time (t,, figure 4) longer than the time of fight of a light pulse from the apparatus to the most remote target in the current frame and back (t ta ⁇ get , Figure 4).
  • the other fibers are used to automatically and constantly maintain the apparatus in correct calibration. Since the lengths of these fibers are known, the times of arrival of the pulses traveling through them are used to check and correct the calculation coefficients in the event that system parameters change for any reason, e.g., temperature changes, aging, etc.
  • the computed times are converted by an analog to digital converter 46 and transferred to the main computer 22 by the micro controller 48.
  • the micro controller precisely measures the time of detection of each target with respect to the signals from the zero crossing detector 20 as well as the time between each two consecutive zero crossings. These times are transferred to the computer 22 which uses them to calculate the targets angles.
  • the main computer 22 receives the data from the micro-controller and uses it to calculate the relative position of target 16 with respect to the apparatus coordinates system.
  • Main computer 22 also computes the X and Y coordinates of the apparatus position as well as its heading relative to the map of targets 24 which was previously measured and stored by the apparatus with respect to a global coordinates system.
  • the calculations are made using a suitable template matching algorithm, such as those disclosed in the literature, for example in Israel Patent Application 100633.
  • the position of the device is transferred to the vehicles controller which has a stored map of the targets 24 and which controls the vehicles movements.
  • the scanner is typically a mirror tilted at 45 degrees and rotating on a vertical axis.
  • the scanner has a zero crossing optical sensor. The time elapsed between consecutive zero crossings is precisely measured and used for correcting the fluctuations in the scanner rotational speed.
  • Figure 5 presents the layout of the global coordinate system 60 and the device coordinate system 64.
  • Device 62 measures the range 66 and angle 68 of target 16 relative to device 62 in the device coordinate system 64.
  • the apparatus calculates the x position 68, y position 70 and heading angular position 72 of device 62 with respect to the global coordinate system 60.
  • a device is capable of learning the layout of various retroreflective targets arrayed in the operational site. Having learned a map of the target locations, the device is able to move about while continually monitoring the current position of the target to form a current map.
  • the current map is transformed, i.e., displaced and rotated, in a process of template matching so as to match the stored map to thereby give an accurate location of the device.
  • Figure 6 describes the process of learning a position of the map targets 16 by using device 62.
  • the measured position of the targets 116 is taken as correct if both the real target and the measured position of the target (i.e., both 16 and 116) are within the permissible uncertainty zone 70.
  • the position of the map targets is defined with respect to the global coordinate system 60 by transforming the position measured in the device coordinate system 64.
  • Figure 7 presents a case where the measured position of the targets is outside the uncertainty zone. In this case the device keeps measuring the target positions until the average values are all inside the uncertainty zones. The process of learning a single frame of the map is ended when all the measured targets average values are within the permissible uncertainty zone 70.
  • the uncertainty zone is defined as the standard deviation of the range and angle measurements computed as follows:
  • a device according to the present invention functions accurately as long as the sequence of targets 16 remains unaltered.
  • the device is able to accurately calculate its location.
  • Figure 8 illustrates the allowable areas of the location of device 62. As can be seen from Figure 8, the allowable area extends well beyond the polygon formed by targets 16, to include the regions shown within the dotted lines. Thus, a device 162 would still be operational while a device 262 would not be. It is to be noted that device 162 could be found simultaneously in the two frames.
  • device 162 could simultaneously be found in the frame shown in Figure 8 as well as in the frame defined by the additional points (not shown) and the two lowest targets shown in Figure 8.
  • FIG. 9 illustrates how the above-described property of a system according to the present invention may be exploited to allow a device to readily roam over relatively large operational sites.
  • a number of targets 16 is first arrayed in some suitable pattern throughout the operational site.
  • To learn the layout of targets 16 device 62 is first located at some suitable location within the first frame (Fl).
  • Device 62 measures the position of targets 16 of the first frame Fl until all of them are inside the permissible uncertainty zones 70 which are pre-defined. Device 62 further calculates its own position inside the given pre-defined device uncertainly zone 71, which is smaller than target uncertainly zone 70.
  • Device 62 is then moved to a new position which is inside the allowable area of both first frame Fl and second frame F2.
  • Device 62 measures its position until the average is within device uncertainty zone 71.
  • the position of targets 16 of second frame F2 are measured until their position average is within target uncertainty zone 70 in the device coordinate system.
  • device 62 uses its position in the global coordinate system, device 62 computes the position of the second frame F2 by coordinate transformation from the device coordinate system to the global coordinate system. The process continues until all the frames are mapped.
  • Use of such a rolling frames system ensures that the target position error is no greater than the radius of the target uncertainty zone 70 and thus avoids the difficulties engendered with error accumulation and drift which are an inherent feature of conventional technologies.
  • the total distance traveled is calculated in an improved manner which makes it possible to more accurately keep track of the travelled distance in order to optimize operation and keep records for maintenance, and the like.
  • Prior art navigation methods use dead reckoning techniques for calculating the traveled distance, i.e., integration of the driving wheel velocity estimated by odometric means.
  • the computed traveled distance is strongly dependent on the number of rotations the driving wheel executes while the vehicle is moving.
  • the driving wheel may slip on a wet floor and then the number of rotations does not represent the true distance traveled. Even if the odometric data are not used but the navigation of the vehicle is, instead, based on relative navigation, the traveled distance is inaccurate because of the accumulation of navigation position errors.
  • the travelled distance is computed by integrating the computed velocity using template matching between successive templates.
  • the templates while moving are distorted templates of the map.
  • the map distortion corresponds uniquely to a certain linear and rotational velocity of the moving vehicle with the device mounted on it.
  • the template matching estimates the velocity of the vehicle by measuring the distortion of the map.
  • the distorted map is corrected by the computed velocity and a new template matching is performed between the corrected template and the original map. If there is an error between the two templates, the velocity is corrected with this residual error. In this way no differentiation of the position is needed for estimating the velocity, the computed velocity is highly accurate and the position errors are not accumulated. There is no influence of wheel slippage on the calculated actual traveled distance and this ensures high precision of the estimated traveled distance.
  • a system includes velocity compensation of the range and angle measurements of the target for fast movements of the vehicle.
  • the velocity is calculated by the algorithm described above and also by estimating the position, velocity, range and angle of the next expected target position and using these for tracking the next target to be measured by the laser rangefinder. If the sampled target is an unknown target or a target not in the map or if the next target is obstructed, then the computer is aware of the situation. This makes the sensor robust to target obstruction and unknown unmapped targets, including other vehicles using laser sensors for navigation.
  • a system according to the present invention can readily be used for mapping areas which were previously unmapped and unknown to the system. If the vehicle needs to move in areas which were not previously mapped but which are marked by new targets, the sensor starts mapping the new targets upon vehicle request or automatically and then the navigation process continues, enabling the vehicle to enter the previously unmapped area.
  • the new mapped targets are discarded and the navigation process continues using the known mapped targets.
  • This feature enables the vehicle to move inside trucks, elevators or other facilities in order to do carry out temporary jobs.
  • the new mapped areas can be permanently appended to the original mapped site. In the same way, original mapped areas may be eliminated from the map. This enables the flexibility of the sensor to adapt to any change in the site layout.
  • a system according to the present invention is an absolute navigation system.
  • the position computation method using a template matching algorithm there is no need to know the previous position of the vehicle in order to compute the new position.
  • the old position is needed only for finding the next target position but once the new target is sampled there is no further use of the old position.
  • This feature insures that the computed position depends only on the knowledge of the original map and the actual location of the targets in the sensor coordinate system.
  • the result is absolute navigation similar to the Global Positioning System (GPS) navigation method which ensures absolute navigation.
  • GPS Global Positioning System

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Cette invention se rapporte à un système de véhicule autonome de grande superficie, qui comprend une plate-forme et un mécanisme commandable servant à déplacer cette plate-forme. Ledit système comprend en outre un mécanisme de navigation, servant à commander le fonctionnement du mécanisme commandable. Ce mécanisme de navigation comprend à son tour un certain nombre de rétroréflecteurs positionnables sélectivement, ainsi qu'un télémètre à balayage, qui est monté sur ladite plate-forme et qui dirige des impulsions de rayonnement en direction des rétroreflecteurs. Ce mécanisme de navigation comporte en outre un mécanisme de relèvement, qui est associé au télémètre à balayage, pour pouvoir déterminer l'orientation azimutale de l'un ou de plusieurs desdits rétroréflecteurs. Un mécanisme de détermination de la portée est associé au télémètre à balayage, afin de déterminer la portée d'un ou de plusieurs desdits rétroréflecteurs. Ce mécanisme de détermination de la portée comprend une ou plusieurs fibres optiques, à travers lesquelles est acheminé le rayonnement, et il comprend en outre un mécanisme servant à déterminer la différence du moment d'arrivée du rayonnement provenant des rétroréflecteurs et traversant la fibre optique. Ce mécanisme de navigation comprend enfin un mécanisme réagissant à la portée détectée et à l'orientation angulaire des rétroréflecteurs, afin de fournir des instructions opératoires au mécanisme commandable.
PCT/US1995/004550 1994-04-20 1995-04-13 Systeme de navigation pour vehicules a guidage automatique et robots mobiles rapides WO1995029380A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL10936094A IL109360A0 (en) 1994-04-20 1994-04-20 Navigation system for fast automated vehicles and mobile robots
IL109360 1994-04-20

Publications (1)

Publication Number Publication Date
WO1995029380A1 true WO1995029380A1 (fr) 1995-11-02

Family

ID=11066042

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1995/004550 WO1995029380A1 (fr) 1994-04-20 1995-04-13 Systeme de navigation pour vehicules a guidage automatique et robots mobiles rapides

Country Status (2)

Country Link
IL (1) IL109360A0 (fr)
WO (1) WO1995029380A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1004450C2 (nl) * 1996-11-06 1998-05-08 Maasland Nv Inrichting voor het bewerken van grond.
WO1999021026A1 (fr) * 1997-10-17 1999-04-29 Apogeum Ab Procede et dispositif destines a associer des reflecteurs anonymes a des positions angulaires detectees
GB2353909A (en) * 1999-08-28 2001-03-07 John Alfred Cawkwell Robot positioning and obstacle sensing
WO2007091966A1 (fr) * 2006-02-07 2007-08-16 Hexagon Metrology Ab Ensemble de détermination de position et procédé de détermination de position
EP1898288A1 (fr) * 2006-09-06 2008-03-12 Sick Ag Appareil de détermination de la position d'un véhicule guidé automatisé
FR3002722A1 (fr) * 2013-03-04 2014-09-05 Bosch Gmbh Robert Dispositif de deplacement et appareil autonome equipe d'un tel dispositif
US11086330B2 (en) 2018-09-28 2021-08-10 Industrial Technology Research Institute Automatic guided vehicle, AGV control system, and AGV control method
TWI764069B (zh) * 2019-12-19 2022-05-11 財團法人工業技術研究院 自動導引車定位系統及其操作方法

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4710020A (en) * 1986-05-16 1987-12-01 Denning Mobil Robotics, Inc. Beacon proximity detection system for a vehicle
US4788441A (en) * 1985-12-16 1988-11-29 Acme-Cleveland Corporation Range finder wherein distance between target and source is determined by measuring scan time across a retroreflective target
US4851661A (en) * 1988-02-26 1989-07-25 The United States Of America As Represented By The Secretary Of The Navy Programmable near-infrared ranging system
US4906940A (en) * 1987-08-24 1990-03-06 Science Applications International Corporation Process and apparatus for the automatic detection and extraction of features in images and displays
US4918607A (en) * 1988-09-09 1990-04-17 Caterpillar Industrial Inc. Vehicle guidance system
US5005128A (en) * 1988-05-13 1991-04-02 The General Electric Company, P.L.C. Automated vehicle control
US5011288A (en) * 1988-05-13 1991-04-30 Honda Giken Kogyo Kabushiki Kaisha Position control system for unmanned automated vehicle
US5162861A (en) * 1991-04-01 1992-11-10 Tamburino Louis A Laser imaging and ranging system using one camera
US5170352A (en) * 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
US5187663A (en) * 1989-10-25 1993-02-16 Honda Giken Kogyo Kabushiki Kaisha System using a moving light reflector for defining the peripheral outline of a work area
US5187662A (en) * 1990-01-24 1993-02-16 Honda Giken Kogyo Kabushiki Kaisha Steering control system for moving vehicle
US5241481A (en) * 1987-06-22 1993-08-31 Arnex Handelsbolag Method and a device for laser optical navigation
US5251133A (en) * 1990-04-20 1993-10-05 Honda Giken Kogyo Kabushiki Kaisha Reference point recognition apparatus for the steering control system of a vehicle
US5363305A (en) * 1990-07-02 1994-11-08 Nec Research Institute, Inc. Navigation system for a mobile robot
US5408541A (en) * 1993-01-05 1995-04-18 Lockheed Corporation Method and system for recognizing targets at long ranges

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4788441A (en) * 1985-12-16 1988-11-29 Acme-Cleveland Corporation Range finder wherein distance between target and source is determined by measuring scan time across a retroreflective target
US4710020A (en) * 1986-05-16 1987-12-01 Denning Mobil Robotics, Inc. Beacon proximity detection system for a vehicle
US5241481A (en) * 1987-06-22 1993-08-31 Arnex Handelsbolag Method and a device for laser optical navigation
US4906940A (en) * 1987-08-24 1990-03-06 Science Applications International Corporation Process and apparatus for the automatic detection and extraction of features in images and displays
US4851661A (en) * 1988-02-26 1989-07-25 The United States Of America As Represented By The Secretary Of The Navy Programmable near-infrared ranging system
US5011288A (en) * 1988-05-13 1991-04-30 Honda Giken Kogyo Kabushiki Kaisha Position control system for unmanned automated vehicle
US5005128A (en) * 1988-05-13 1991-04-02 The General Electric Company, P.L.C. Automated vehicle control
US4918607A (en) * 1988-09-09 1990-04-17 Caterpillar Industrial Inc. Vehicle guidance system
US5187663A (en) * 1989-10-25 1993-02-16 Honda Giken Kogyo Kabushiki Kaisha System using a moving light reflector for defining the peripheral outline of a work area
US5187662A (en) * 1990-01-24 1993-02-16 Honda Giken Kogyo Kabushiki Kaisha Steering control system for moving vehicle
US5251133A (en) * 1990-04-20 1993-10-05 Honda Giken Kogyo Kabushiki Kaisha Reference point recognition apparatus for the steering control system of a vehicle
US5170352A (en) * 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
US5363305A (en) * 1990-07-02 1994-11-08 Nec Research Institute, Inc. Navigation system for a mobile robot
US5162861A (en) * 1991-04-01 1992-11-10 Tamburino Louis A Laser imaging and ranging system using one camera
US5408541A (en) * 1993-01-05 1995-04-18 Lockheed Corporation Method and system for recognizing targets at long ranges

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1004450C2 (nl) * 1996-11-06 1998-05-08 Maasland Nv Inrichting voor het bewerken van grond.
WO1998019514A1 (fr) * 1996-11-06 1998-05-14 Maasland N.V. Machine aratoire
US6308118B1 (en) 1997-10-17 2001-10-23 Ndc Netzler & Dahlgren Co. Ab Method for determining the position of an automated guided vehicle
WO1999021027A1 (fr) * 1997-10-17 1999-04-29 Apogeum Ab Procede permettant de determiner la position d'un vehicule automatique guide..
US6259979B1 (en) 1997-10-17 2001-07-10 Apogeum Ab Method and device for association of anonymous reflectors to detected angle positions
WO1999021026A1 (fr) * 1997-10-17 1999-04-29 Apogeum Ab Procede et dispositif destines a associer des reflecteurs anonymes a des positions angulaires detectees
AU752054B2 (en) * 1997-10-17 2002-09-05 Danaher Motion Saro Ab Method and device for association of anonymous reflectors to detected angle positions
KR100578680B1 (ko) * 1997-10-17 2006-05-12 다나허 모션 제뢰 에이비 검출된 각위치에 대한 아노니머스 반사기의 연관을 위한 방법 및 장치
GB2353909A (en) * 1999-08-28 2001-03-07 John Alfred Cawkwell Robot positioning and obstacle sensing
GB2353909B (en) * 1999-08-28 2004-03-17 John Alfred Cawkwell Robot positioning and motion mechanism
WO2007091966A1 (fr) * 2006-02-07 2007-08-16 Hexagon Metrology Ab Ensemble de détermination de position et procédé de détermination de position
EP1898288A1 (fr) * 2006-09-06 2008-03-12 Sick Ag Appareil de détermination de la position d'un véhicule guidé automatisé
FR3002722A1 (fr) * 2013-03-04 2014-09-05 Bosch Gmbh Robert Dispositif de deplacement et appareil autonome equipe d'un tel dispositif
US11086330B2 (en) 2018-09-28 2021-08-10 Industrial Technology Research Institute Automatic guided vehicle, AGV control system, and AGV control method
TWI764069B (zh) * 2019-12-19 2022-05-11 財團法人工業技術研究院 自動導引車定位系統及其操作方法

Also Published As

Publication number Publication date
IL109360A0 (en) 1994-10-07

Similar Documents

Publication Publication Date Title
US6442476B1 (en) Method of tracking and sensing position of objects
EP3715785B1 (fr) Système de navigation inertielle assisté par slam
US5467273A (en) Large area movement robot
EP0273976B1 (fr) Appareil de guidage pour des corps en mouvement sans equipage
EP0937284B1 (fr) Systeme de determination de position non base sur l'infrastructure
EP1023610B1 (fr) Procede et dispositif destines a associer des reflecteurs anonymes a des positions angulaires detectees
CN106325270B (zh) 基于感知和自主计算定位导航的智能车导航方法
WO2020258721A1 (fr) Procédé et système de navigation intelligente pour motocyclette de type cruiser
US20170176990A1 (en) Negative obstacle detector
US5276618A (en) Doorway transit navigational referencing system
US20180129217A1 (en) Navigation Of Mobile Robots Based On Passenger Following
DE3741259A1 (de) Verfahren und vorrichtung zur autonomen steuerung eines fahrzeuges
CN113168179A (zh) 检测自主设备的位置
Cox Blanche: an autonomous robot vehicle for structured environments
Beom et al. Mobile robot localization using a single rotating sonar and two passive cylindrical beacons
CN112449164B (zh) 用于对车辆定位的方法以及用于执行该方法的车辆
CN112611374A (zh) 基于激光雷达和深度相机的路径规划及避障的方法及系统
WO1995029380A1 (fr) Systeme de navigation pour vehicules a guidage automatique et robots mobiles rapides
JP2017032329A (ja) 障害物判定装置、移動体、及び障害物判定方法
Roth et al. Navigation and docking manoeuvres of mobile robots in industrial environments
JP3149661B2 (ja) 無人搬送車の位置同定方法
Kimoto et al. Map building with radar and motion sensors for automated highway vehicle navigation
JP3564201B2 (ja) 自律走行作業車の自己位置検出装置
Xu et al. Sensor fusion and positioning of the mobile robot LiAS
Podsedkowski et al. Online navigation of mobile robots using laser scanner

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): JP TJ US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
122 Ep: pct application non-entry in european phase