AGV Navigation Using Radio Trilateration and Vision Correction

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Conventional localization methods for Autonomous Ground Vehicles (AGVs) face challenges in accurately navigating through environments like forests, deserts, and mining routes, where visual similarity and the lack of accurate HD maps hinder continuous location determination.

Innovation Solution

The method employs a radio signal-based trilateration mechanism to determine an approximate AGV location, which is then corrected using vision sensor data from cameras and LIDAR sensors to estimate location errors relative to road lane centers, allowing for precise navigation without requiring high-resolution 3D maps.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If environment matching based localization using visual sensor is used in deserted routes with similar surroundings, then the AGV can navigate autonomously, but the localization correctness deteriorates over time

Engineering Contradiction:

Improveautonomous navigationVSAvoidlocalization correctness

Core Design Contradiction:

Extent of automationVSMeasurement precision

Solution Approach 1:

The patent introduces radio signals as an intermediary localization method that works in conjunction with visual sensors. Radio transmitters placed at known locations provide distance measurements that serve as a mediator to correct the drift in visual-only localization, maintaining accuracy in environments where visual features are repetitive or unavailable

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system merges two localization approaches: visual environment matching and radio signal-based trilateration. By combining these methods, the system leverages the strengths of both - visual sensors for continuous navigation and radio signals for periodic correction - thereby maintaining localization accuracy without sacrificing autonomous operation

Inventive Principle:

Principle #5Merging (Combining)

2Measurement precision

If High Definition maps are prepared for forests, deserts, mining routes, or port routes, then navigation accuracy can be improved, but the map preparation difficulty increases

Engineering Contradiction:

Improvenavigation accuracyVSAvoidmap preparation difficulty

Core Design Contradiction:

Measurement precisionVSEase of manufacture

Solution Approach 1:

Instead of investing significant resources in creating and maintaining accurate HD maps for difficult terrains, the patent uses inexpensive radio transmitters placed at known locations. These simple, easily deployable devices provide localization references without requiring complex map preparation or updates

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Solution Approach 2:

The patent segments the localization problem into two parts: a coarse localization using radio signals from multiple transmitters, and fine-tuning using visual sensors. This segmentation allows the system to achieve accurate navigation without requiring complete, high-resolution maps of the entire environment

Inventive Principle:

Principle #1Segmentation

3Adaptability or versatility

If radio signal-based trilateration is used to determine AGV location, then the need for HD maps is reduced, but location accuracy requires correction

Engineering Contradiction:

Improvenavigation in diverse environmentsVSAvoidlocation accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The system uses feedback by continuously comparing the position estimated from radio signal trilateration with the position derived from visual feature matching. This feedback loop allows the system to identify and correct errors in the radio-based localization, maintaining accuracy while operating in diverse environments without HD maps

Inventive Principle:

Principle #23Feedback

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This approach provides near-accurate localization and navigation for AGVs in challenging environments, reducing the need for extensive infrastructure and improving navigation accuracy.

Implementation Method 1

identifying an approximate AGV location using a radio signal-based trilateration mechanism

Methodology Applied

Scientific EffectTrilateration:

Implementation Method 2

The method employs a radio signal-based trilateration mechanism to determine an approximate AGV location, which is then corrected using vision sensor data from cameras and LIDAR sensors

Methodology Applied

Scientific EffectLIDAR: LIDAR

Data Source

PatentUS11774571B2Method and system for navigating autonomous ground vehicle using radio signal and vision sensor

Publication Date: 2023.10.03 WIPRO LTD

AI summary

The present invention discloses a method and a system for navigating an Autonomous Ground Vehicle (AGV) using a radio signal and a vision sensor. The method comprising generating a trajectory plan for a short distance from a path plan, wherein the path plan is determined using destination location and AVG location, identifying an approximate AGV location using a radio signal-based trilateration mechanism, estimating AGV location error with respect to a road lane center by determining distance from the approximate AGV location to road boundary and road lane marking line and orientation difference between AGV orientation and road orientation, and correcting the trajectory plan by using the estimated AGV location error for navigating an AGV.