Resumen
As a highly automated carrying vehicle, an automated guided vehicle (AGV) has been widely applied in various industrial areas. The collision avoidance of AGV is always a problem in factories. Current solutions such as inertial and laser guiding have low flexibility and high environmental requirements. An INS (inertial navigation system)-UWB (ultra-wide band) based AGV collision avoidance system is introduced to improve the safety and flexibility of AGV in factories. An electronic map of the factory is established and the UWB anchor nodes are deployed in order to realize an accurate positioning. The extended Kalman filter (EKF) scheme that combines UWB with INS data is used to improve the localization accuracy. The current location of AGV and its motion state data are used to predict its next position, decrease the effect of control delay of AGV and avoid collisions among AGVs. Finally, experiments are given to show that the EKF scheme can get accurate position estimation and the collisions among AGVs can be detected and avoided in time.