計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
超音波センサアレイを用いた新しいナビゲーションシステム
田畑 克彦西田 佳史飯田 佳弘岩井 俊昭
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2012 年 48 巻 1 号 p. 11-19

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We propose a new navigation system for Automatic Guided Vehicles (AGV) used as a carrier in the factory. The guided marker of the navigation system is composed of ultrasonic transducers instead of the traditional markers such as electromagnetic tape, light reflective tape and so on. The proposed system is available to be used not only indoors but also outdoors and adaptable to a temporary route. The ultrasonic sensor is generically susceptible to noise, so that we make the following propositions. First, a phased array of the ultrasonic sensors is employed in searching a land marker to improve the signal-to-noise ratio. Second, the specific ID with 7bits is assigned as the land marker to avoid the system errors ascribable to an ultrasonic interference. In addition, the proposed system is quite compact in virtue of the embedded technology of a microcomputer and Field Programmable Gate Array (FPGA). This paper reports the development of the proto-type system of navigation system and confirmation of its fundamental performances.

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© 2012 公益社団法人 計測自動制御学会
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