A New Positioning Method for Indoor Laser Navigation on Under-Determined Condition

This study presents the indoor automated guided vehicles (AGV) laser navigation method on under-determined environments. Typical laser navigation system working well based on at least three reflectors. However, for the complex environment, dependent on obstacles shelves and goods, it is hard to install reflectors in expected points result in the laser scanner probably receive reflecting signal from less than three reflectors. This under-determined positioning condition will lead to the abnormal work situation of laser navigation system. In order to figure out it, this paper presents a new method when the number is less than three reflectors to output expected location information. It combines the known roadmap with two-axis accelerometer for different observation condition when the number of available reflectors is less than three. The scheme showed that the output accuracy is better than 8cm at the worst and more robust than single laser navigation system.