---
_id: '559'
abstract:
- lang: eng
  text: 'The navigation technique has been always an important issue for guiding an
    automated guided vehicle (AGV). With the development of sensor technology, software
    engineering, andalgorithms, there is a spectrum of different navigation methods
    for AGVs. Inorder to avoid the additional environmental installation,so as to
    increase the flexibility of route planning, but to keep the positioning precision,
    more sensors, such as light detection and ranging (LIDAR), wheel encoders and
    gyroscope are installed on the vehicles to be automated. Some intelligent algorithms
    such as simultaneous localization and mapping (SLAM) algorithms and Monte Carlo
    localization have been developed for the navigation of vehicles, including position
    and orientation. The interesting question, especially for the AGVmanufacturers,
    is: which algorithm is more suitable for which kind of applications. The suitabilityof
    an algorithm for the navigation of AGVs with facilities of Light Detection and
    Ranging(LIDAR), encoders and gyroscope ismainly determined by four properties.
    They are the positioning precision, computational costs, execution time and positioning
    repeatability. This paper intends to investigate the suitability of an algorithm
    or a navigation method for AGVs with LIDAR, wheel encoders,and gyroscope. The
    two aspects of positioningaccuracy and repeatability are especially concerned.
    A general comparison of different navigation methods and algorithms is given.
    An experimental platform with a basic vehicle, controlling system and sensors
    is then developed to further evaluate the algorithms. The hardware components
    and software components are compatible to robot operating system (ROS). This open-source
    robotics middleware provides services and tools for creating robot applications.
    As ROS SLAM nodes, open-source SLAM algorithms can be evaluated relatively easily
    without any rewriting or modification of the algorithms. As a new research field,
    there is not jet a SLAM algorithm, which is predominant absolutely.'
author:
- first_name: Li
  full_name: Li, Li
  id: '58482'
  last_name: Li
- first_name: L.
  full_name: Schulze, L.
  last_name: Schulze
citation:
  ama: 'Li L, Schulze L. Comparison and Evaluation of SLAM Algorithms for AGV Navigation.
    In: Villmer F-J, Padoano E, Department of Production Engineering and Management,
    eds. <i>Production Engineering and Management</i>. Lemgo; 2018:213-223.'
  apa: Li, L., &#38; Schulze, L. (2018). Comparison and Evaluation of SLAM Algorithms
    for AGV Navigation. In F.-J. Villmer, E. Padoano, &#38; Department of Production
    Engineering and Management (Eds.), <i>Production Engineering and Management</i>
    (pp. 213–223). Lemgo.
  bjps: <b>Li L and Schulze L</b> (2018) Comparison and Evaluation of SLAM Algorithms
    for AGV Navigation. In Villmer F-J, Padoano E and Department of Production Engineering
    and Management (eds), <i>Production Engineering and Management</i>. Lemgo, pp.
    213–223.
  chicago: Li, Li, and L. Schulze. “Comparison and Evaluation of SLAM Algorithms for
    AGV Navigation.” In <i>Production Engineering and Management</i>, edited by Franz-Josef
    Villmer, Elio Padoano, and Department of Production Engineering and Management,
    213–23. Lemgo, 2018.
  chicago-de: 'Li, Li und L. Schulze. 2018. Comparison and Evaluation of SLAM Algorithms
    for AGV Navigation. In: <i>Production Engineering and Management</i>, hg. von
    Franz-Josef Villmer, Elio Padoano, und Department of Production Engineering and
    Management, 213–223. Lemgo.'
  din1505-2-1: '<span style="font-variant:small-caps;">Li, Li</span> ; <span style="font-variant:small-caps;">Schulze,
    L.</span>: Comparison and Evaluation of SLAM Algorithms for AGV Navigation. In:
    <span style="font-variant:small-caps;">Villmer, F.-J.</span> ; <span style="font-variant:small-caps;">Padoano,
    E.</span> ; <span style="font-variant:small-caps;">Department of Production Engineering
    and Management</span> (Hrsg.): <i>Production Engineering and Management</i>. Lemgo,
    2018, S. 213–223'
  havard: 'L. Li, L. Schulze, Comparison and Evaluation of SLAM Algorithms for AGV
    Navigation, in: F.-J. Villmer, E. Padoano, Department of Production Engineering
    and Management (Eds.), Production Engineering and Management, Lemgo, 2018: pp.
    213–223.'
  ieee: L. Li and L. Schulze, “Comparison and Evaluation of SLAM Algorithms for AGV
    Navigation,” in <i>Production Engineering and Management</i>, Lemgo, 2018, no.
    1, pp. 213–223.
  mla: Li, Li, and L. Schulze. “Comparison and Evaluation of SLAM Algorithms for AGV
    Navigation.” <i>Production Engineering and Management</i>, edited by Franz-Josef
    Villmer et al., no. 1, 2018, pp. 213–23.
  short: 'L. Li, L. Schulze, in: F.-J. Villmer, E. Padoano, Department of Production
    Engineering and Management (Eds.), Production Engineering and Management, Lemgo,
    2018, pp. 213–223.'
  ufg: '<b>Li, Li/Schulze, L. (2018)</b>: Comparison and Evaluation of SLAM Algorithms
    for AGV Navigation, in: Franz-Josef Villmer et. al. (Hgg.): <i>Production Engineering
    and Management</i>, Lemgo, S. 213–223.'
  van: 'Li L, Schulze L. Comparison and Evaluation of SLAM Algorithms for AGV Navigation.
    In: Villmer F-J, Padoano E, Department of Production Engineering and Management,
    editors. Production Engineering and Management. Lemgo; 2018. p. 213–23.'
conference:
  end_date: 2018-10-05
  location: Lemgo
  name: Proceedings 8th International Conference
  start_date: 2018-10-04
corporate_editor:
- Department of Production Engineering and Management
- Hochschule Ostwestfalen-Lippe
date_created: 2019-02-13T15:56:30Z
date_updated: 2023-03-15T13:50:00Z
department:
- _id: DEP7000
- _id: DEP1306
editor:
- first_name: Franz-Josef
  full_name: Villmer, Franz-Josef
  last_name: Villmer
- first_name: Elio
  full_name: Padoano, Elio
  last_name: Padoano
issue: '1'
keyword:
- Automatedguided vehicle
- Simultaneous localization and mapping
- Robot operating system
- Light detection and ranging
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://www.hs-owl.de/fileadmin/diman/Veroeffentlichungen/PEM2018_proceedings_web.pdf
oa: '1'
page: 213-223
place: Lemgo
publication: Production Engineering and Management
publication_identifier:
  isbn:
  - 978-3-946856-03-0
publication_status: published
status: public
title: Comparison and Evaluation of SLAM Algorithms for AGV Navigation
type: conference
user_id: '45673'
year: 2018
...