The goal of this project is to analyze two types of AGV indoor and outdoor localization techniques in an aluminum smelter building with a particular operative vehicle. The indoor localization is performed with the ARTag markers system while the outdoor localization employs multiple Wi-Fi transceivers to trilaterate the position of the vehicle based on the RSSI value. Finally, raw estimated pose is fused with the IMU sensor data using the extended kalman filter to increase localization accuracy.
Indoor and outdoor localization for AGVs in the primary aluminum industry
Giacomazzo, Matteo
2020/2021
Abstract
The goal of this project is to analyze two types of AGV indoor and outdoor localization techniques in an aluminum smelter building with a particular operative vehicle. The indoor localization is performed with the ARTag markers system while the outdoor localization employs multiple Wi-Fi transceivers to trilaterate the position of the vehicle based on the RSSI value. Finally, raw estimated pose is fused with the IMU sensor data using the extended kalman filter to increase localization accuracy.File in questo prodotto:
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giacomazzo_matteo_tesi.pdf
Open Access dal 10/03/2023
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/28664