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In order for AGVs to be able to effectively carry out the tasks assigned to them, it is important to accurately determine their position and orientation in the working space. Having data on the location of an AGV is crucial for the navigation process, and the most commonly used odometry method is unreliable due to errors. To correct these errors, additional measuring systems are used. These systems use a variety of sensors. Some of the most widely used types are laser rangefinders. These sensors are also used in the automatic course correction methodology that is developed and presented in this article. The measurements from laser rangefinders are used to determine the shift of the actual trajectory from the set one, and then to guide the AGV to the previously set course. The developed methodology is experimentally verified on the basis of several dozen test drives. The conducted experimental studies prove the correctness of the developed methodology. The proposed course correction algorithm can be implemented in most working conditions, and guarantees correct passage over the given route. [ABSTRACT FROM AUTHOR]

In order for AGVs to be able to effectively carry out the tasks assigned to them, it is important to accurately determine their position and orientation in the working space. Having data on the location of an AGV is crucial for the navigation process, and the most commonly used odometry method is unreliable due to errors. To correct these errors, additional measuring systems are used. These systems use a variety of sensors. Some of the most widely used types are laser rangefinders. These sensors are also used in the automatic course correction methodology that is developed and presented in this article. The measurements from laser rangefinders are used to determine the shift of the actual trajectory from the set one, and then to guide the AGV to the previously set course. The developed methodology is experimentally verified on the basis of several dozen test drives. The conducted experimental studies prove the correctness of the developed methodology. The proposed course correction algorithm can be implemented in most working conditions, and guarantees correct passage over the given route.

In the case of automated guided vehicles using odometry, a very important issue is to know the actual rolling radius of the wheel used to calculate the position of the vehicle. This radius is not constant. Its changes depend on the elastic deformation of the band layer and wheel slip. The theoretical determination of the value of the radius and the nature of the change is very difficult. For this reason, it was decided to determine the rolling radii by the experimental method. For this purpose, an appropriate test stand was built and the proposed research method was checked. Within the tests, there was also obtained a number of interesting results characterizing the material used to build bands and the ranges of changes rolling radii for the tested material were specified. [ABSTRACT FROM AUTHOR]

In the case of automated guided vehicles using odometry, a very important issue is to know the actual rolling radius of the wheel used to calculate the position of the vehicle. This radius is not constant. Its changes depend on the elastic deformation of the band layer and wheel slip. The theoretical determination of the value of the radius and the nature of the change is very difficult. For this reason, it was decided to determine the rolling radii by the experimental method. For this purpose, an appropriate test stand was built and the proposed research method was checked. Within the tests, there was also obtained a number of interesting results characterizing the material used to build bands and the ranges of changes rolling radii for the tested material were specified.