Automated Guided Vehicle Indoor Positioning Method Based Cellular Automata

  • Jian Sun
  • Yongling Fu
  • Shengguang LiEmail author
  • Yujie Su
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


Automated guided vehicle (AGV) can greatly improve warehousing operation efficiency and reduce labor costs. As a key technology, the positioning method is crucial for the path planning and cruising of AGVs. In view of existing technology, the method with high positioning precision is too expensive, and the low cost method performance is too poor. In this paper, a low cost and high precision positioning method based on cellular automata is proposed. This method utilizes the wireless communication system that AGV has equipped to complete the positioning through the continuous iteration of simple cell evolution rules in the cell space mapped by the positioning space. For the problem of positioning errors caused by environmental factors changing and equipment aging, this method integrates spatiotemporal correlation and differential calculations as constraints in the evolution rules to achieve high-precision positioning. Through simulation experiments, the feasibility and effectiveness of the method are verified and analyzed. It has a good application prospect.


Automated guided vehicle (AGV) Indoor positioning Cellular automata Intelligent warehouse Wireless communication 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Jian Sun
    • 1
    • 2
  • Yongling Fu
    • 1
  • Shengguang Li
    • 2
    Email author
  • Yujie Su
    • 3
  1. 1.School of Mechanical Engineering & AutomationBeihang UniversityBeijingChina
  2. 2.The F. R. I. of Ministry of Public SecurityBeijingChina
  3. 3.North China University of Water Resources and Electric PowerZhengzhouChina

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