I. Introduction
AGVs (Automated Guided Vehicles) are used in industrial areas to transport goods automatically. AGVs can be made in various forms of cars. Figure 1 shows a towing tractor modified as an AGV to tow trailers containing loads up to 2 tons between warehouses in industrial areas. However, the navigation system is essential to guide the AGV to fulfill those purposes. The navigation system type differs depending on the location, i.e., indoor or outdoor. Commonly, navigation for indoor uses magnetic tapes to guide AGV movements between waypoints. On the contrary, magnetic tapes cannot be placed outdoors because of the reduction of magnetic properties in hot sunlight. Besides that, other vehicles, such as trailers, trucks, cars, etc., may destroy the tapes when crossing them.