Global Indoor Localization Method for AGV Based on Ultrasonic Asynchronous Distance Measurement

In order to realize free path indoor navigation and meet requirements of low cost, an integrated kinematics model of AGV and orienting mechanism of ultrasonic transmitter is established, and a global localization scheme based on three times asynchronous correlated ultrasonic distance measurement and with small number of end-nodes is given. The experiments showed that maximum localization error is just only 67 mm when the AGV travelled at a speed of 0.5 m/s and performed distance measurement at long time intervals of 1 s, which can meet the positioning requirements of most workshop operations.