Indoor Autonomous Vehicle Navigation Based on a Wireless Position and Orientation Determination System

Zheng Cao, Sihao Zhao, Xiaowei Cui, Wei Li, and Mingquan Lu

Abstract:	In recent years, autonomous vehicles have drawn attention from both academic and industrial worlds for their potential applications in a variety of fields such as logistics, mining, harvest and electronic sports. The objective of this work is to develop a demonstration system for indoor vehicles’ autonomous control and navigation. Position is one of the most important information for vehicle control, navigation and obstacle avoidance. In order to achieve accurate and continuous positioning capability, a high precision indoor wireless positioning system is developed and adopted. Based on this localization system, position accuracy of 3 cm (1-?) can be achieved. Furthermore, the heading angle of the vehicle is also measured using two selfdeveloped positioning devices, and the error can be within ±10 degrees with a baseline length of 20 cm. A low-cost velocity sensor is equipped to bridge the gap between position fixes and filter off unacceptable position results. A modified control algorithm that controls both the speed and the direction of the vehicle based on the widely adopted fuzzy control idea is proposed and implemented. Ultrasonic sensors are installed on the vehicles to detect obstacles around. Avoidance of these obstacles is realized through a proposed algorithm that combines decision making and behavior control such as braking, backing and turning. Preliminary tests using smart mini-vehicles have shown that position and orientation information given by this system and the control algorithm can satisfy the demand of autonomous navigation and obstacle avoidance for vehicles.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	703 - 716
Cite this article:	Cao, Zheng, Zhao, Sihao, Cui, Xiaowei, Li, Wei, Lu, Mingquan, "Indoor Autonomous Vehicle Navigation Based on a Wireless Position and Orientation Determination System," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 703-716. https://doi.org/10.33012/2018.16048
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In