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

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.