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Performance of Low-cost GPS-RTK for Navigating AGV Outdoors | IEEE Conference Publication | IEEE Xplore

Performance of Low-cost GPS-RTK for Navigating AGV Outdoors


Abstract:

Nowadays, low-cost GPS-RTK device has an accuracy of 1 cm level. Therefore, the device can be used for navigating AGV outdoors autonomously, following the programmed trac...Show More

Abstract:

Nowadays, low-cost GPS-RTK device has an accuracy of 1 cm level. Therefore, the device can be used for navigating AGV outdoors autonomously, following the programmed track. Using two low-cost GPS-RTK receivers separated at a distance on the AGV, an absolute bearing value of AGV can be calculated and obtained to follow the path between two setup waypoints. This work evaluates the performance of the low-cost GPS-RTK devices, especially to know the devices' characteristic of updating data rate to track the route at various speeds while turning the curve, which is a critical point in controlling the AGV movements. Experiment results show that higher bearing error occurs as the AGV speed increases when making a turn.
Date of Conference: 13-14 December 2022
Date Added to IEEE Xplore: 10 March 2023
ISBN Information:
Conference Location: Yogyakarta, Indonesia

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.

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