Implementation of laser navigation system using particle filter

This paper presents a positioning method of the laser guidance with a particle filter for an AGV (automatic guided vehicle). Wired guidance and magnetic guidance system have been used mainly for AGV's guidance in industry. However, these guidance systems have an expensive installation cost and a difficult maintenance. Therefore, the laser guidance system as a wireless guidance system is increasingly used. However, this system has a number of positioning errors when the AGV turns or moves fast by the characteristics of the laser guidance which detects reflectors using a rotating header within the particular operating environment. Hence, this paper proposes a positioning method to improve the performance of the laser guidance system. The proposed system integrates two encoders, a gyro sensor and laser guidance through the particle filter. To verify the performance of the proposed positioning method, we compare the positioning accuracy of the proposed method with an existing product of the laser guidance system. The experimental results show that the proposed method is more accurate than the existing product.