2013 IEEE RO-MAN: The 22nd IEEE International Symposium on
20
Robot and Human Interactive Communication
Gyeongju, Korea, August 26-29, 2013
Independence Localization System for Mecanum Wheel AGV
Hyunhak Cho, Hajun Song, Moonho Park, Jaeyong Kim, Seungbeom Woo, and Sungshin Kim
Abstract— This study deals with the independent localization
system of AGV which is sensor fusion strapdown inertial
navigation system and laser navigation to develope more fast and
accurate for the AGV. the strapdown inertial navigation system
is very expensive and has large system. Hence, we propose the
independent and stable localization system with sensor fusion
using a low-cost strapdown inertial navigation system which
consists of MEMS inertial sensor. To reduce errors of the
strapdown inertial navigation system, we performed
compensation using proportional method to gyro sensor and
low-pass filter to accelerometer. We used transformation matrix
with a result of attitude reference using Kalman filter. Finally, to
compensate the result of error, fuzzy inference system is used. To
verify the performance of the proposed system, experiments is
performed with a Mecanum wheeled AGV and a forklift AGV.
In the experiments result, we confirmed that the proposed
system can estimate the position.
I. INTRODUCTION
In the early 20th century, the technique for localization of
moving type military equipment according to military purpose
is rapid developed. Those techniques reduce loss of lives
which occurred because people was carrier of arms to directly
attack at enemy camp in past, and those are developed to show
technical superiority among power nations[1-4]. Global
positioning system (GPS) developed at that time measure
absolute positioning of airplane and missile in Earth's global.
A pinpoint strike arm using it was developed. However, the
GPS is unsuitable for localization of moving object at high
speed as airplane and missile because it has low speed
response time. To make up for fault, inertial navigation system
(INS) which can measure moved variation through to measure
inertial of object is made[5-8].
The INS is device to calculate relative moved variation of
object by integrating twice in measured acceleration of object
through accelerometer[9-12]. It is used precision localization
of military equipment with GPS. In particular, strapdown INS
(SINS) is applied autonomous guided vehicle (AGV) because
* This research was supported by the MKE(The Ministry of Knowledge
Economy), Korea.
H. H. Cho is with the Department of Interdisciplinary Cooperative
Course: Robot, Pusan National University, Pusan, Korea (e-mail:
darkruby1004@pusan.ac.kr).
H.J. Song is with the Department of Electrical Engineering, Pusan
National University, Pusan, Korea (e-mail: darkhajun@pusan.ac.kr).
M.H. Park is with the Department of Electrical Engineering, Pusan
National University, Pusan, Korea (e-mail: 82akakak@pusan.ac.kr).
J.Y Kim is with the Department of Electrical Engineering, Pusan National
University, Pusan, Korea (e-mail: arioner@pusan.ac.kr).
S.B Woo was with the Department of Interdisciplinary Cooperative
Course: Robot, Pusan National University, Pusan, Korea (e-mail:
rhei@pusan.ac.kr).
S.S Kim is with the Electrical Engineering Department, Pusan National
University, Pusan, Korea (corresponding author to provide phone:
+82-51-510-2374; fax: +82-51-510-0212; e-mail: sskim@pusan.ac.kr).
978-1-4799-0509-6/13/$31.00 ©2013 IEEE
TuA1.1P.
it is small size and low power consumption. The strapdown
technique is a method which keeps attitude of accelerometer
using attitude measurement result of gyro. However, the SINS
is difficult to apply to the AGV because the SINS demand less
error and expensive accelerometer and gyro to maintain
higher or the same as the previous INS[13,14]. The SINS
which can high speed localization without the influence of
external factors of moving object has very benefit to
localization of AGV, but it is unsuitable to low cost AGV
rather than airplane and military equipment. Therefore, in the
generality of cases, the AGV used mostly encoder and gyro
for localization. However, if the encoder is used, it has
problem that is subordinate to structure of system.
This problem is divided to apply encoder in AGV, to be
adapted the AGV at environment and to recycle completed
positioning system. First problem is that the AGV is applied
the encoder. This problem is impossible to resolve due to
structural defect and cost increase from installing encoder in
the AGV. Second problem is environment adaptation. The
localization system which is made depending on structure of
kinematic of AGV requires detailed optimization according to
environment in the AGV. If the AGV moves at indoor and
outdoor that are large changes of environment without single
environment. Third problem is that the AGV redo
environment adaptation because if localization system using
encoder in an AGV is made, the AGV is not perfect equal to
mechanism even though structure of the AGV is equal. To
solve problem is inefficiency of encoder, using SNIS give
better results because it resolve completely system
dependence of encoder and it can measure high speed position
of 10ms better than localization system using encoder on
maximum 50~100ms of speed. Response time of MEMS type
accelerometer and gyro is high speed 10ms or under.
Therefore, integration error to calculate position is decreased
by the faster measurement of data. However, it is difficult to
resolve the error of the sensor occurred when using
considerably lower price sensor than the inertial sensor which
is commonly used for SINS. Even though SINS is developed
suitably for AGV, this problem makes that it difficult to apply.
thus, this paper propose a method to solve a fundamental
matter of SINS, and propose localization system to fuse
Kalman filter, Fuzzy inference system, SINS and Laser
navigation for localization of AGV. Laser navigation is
Global localization with the high accuracy, but has slow
response rate of 250 ms or more. The SINS has the fast slow
response, though it has a aforementioned fundamental matter.
Therefore, we were used to mix the merit of laser navigation
and SINS through the Kalman filter, and reduced the error of
SINS by Fuzzy inference system. Kalman filter was used to
fill the gap of the sensors(Laser navigation and SINS) through
to fuse the data of sensors and to calculate the speed and
position information by the estimated information in Kalman
192
filter, however it is not possible to fully compensate the error,
using SINS initial acceleration is defined in the estimation
procedure to the Kalman filter. Specially, the reliability of
position calculated using the SINS is lower, because the
accelerometer used in the proposed sensors fusion localization
week sensor noise or external vibrate. To solve this problem,
we used FIS that inputs of it are direction constituent of
position value estimated through Kalman filter and direction
of real AGV [15-17].
The paper is composed as follows. The localization device
used for this paper is described in section 2 and we analyze
proposed system from this paper in section 3. In section 4, we
verify the performance of localization through a series of
experiments. Finally, the conclusion of this paper is shown in
section 5.
II. INERTIAL SENSOR
The temperature can affect the data from gyro sensor, one
of the features of gyro sensor. Therefore, the process of
temperature compensation is necessary to (1). However, in the
result of temperature compensation test using real sensor, the
effect of temperature compensation has very small value
enough to ignore. Fig. 1 shows the result of temperature
compensation test using real sensor. X-axis and y-axis present
the temperature and data of gyro sensor, respectively.
Fig. 1 presents the box-plot of analysis of
interconnectedness between temperature and data of gyro
sensor. Test carried out about 10 hours when the gyro sensor
kept the stopped state. According to the change of average of a
thousand random data from the test for each temperature, the
temperature is scarcely ineffective. In addition, the effect of
temperature was ignored because the proposed SINS measure
its localization within 10 second.
Figure 1. Raw data and temperature of gyro sensor.
2056

2054

In this section, we analyze the feature of inertial sensor 2052

which is used for composing of the SINS. Inertial sensors 2050

what we use for the proposed SINS are 1-axis gyro sensor, 2048

Gyro Raw data

2-axis gyro sensor and 3-axis acceleration sensor. Gyro sensor 2046

and acceleration sensor what we used are one of MEMS

2044

2042

sensor. LPR530AL gyro sensor which is built-in 2040

myARS-USB, the device for posture estimating, of Withrobot, 2038

Inc. is used as 2-axis gyro sensor and BMA150 acceleration 2036

sensor is used as the 3-axis acceleration sensor, respectively. 2034

2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073
Gyro Temperature
2074 2075 2076 2077 2078 2079 2080 2081 2082 2083

To measure the yaw, myGyro300SPI of Withrobot Inc. is used

as the 1-axis gyro sensor. B. Accelerometer
The accelerometer specifications that are used in the
A. Gyro sensor proposed SINS are as in Table 2.
SINS estimate the posture of the body, and the result of
estimation is reflected in localization. Thus, analysis of the TABLE II. SPECIFICATIONS OF 3-AXIS ACCELERATION SENSOR
feature of gyro sensor for posture estimating is important.
Table 1 shows the specifications of each gyro sensor. Parameter Specification

supply Voltage 3.4~3.6V

TABLE I. SPECIFICATIONS OF GYRO SENSORS SPI(serial peripheral interface)
communication
I2C(inter IC control interface)
Parameter 2-axis gyro 1-axis gyro
range 2.0 / 4.0 / 6.0 g
supply Voltage 2.7~3.6V 4.75~5.25V
256 Lsb/g (at 2.0g)
communication Analog voltage SPI sensitivity 128 Lsb/g (at 6.0g)
range ±300°/s ±300°/s 64 Lsb/g (at 8.0g)

bandwidth 140Hz 40Hz

sensitivity 0.242°/s/LSB 0.25°/s/LSB The SINS is possible to measure position about X, Y, and
Z axis. However, in case of AGV, The paper performs only
the position calculation about X, Y axis, because Altitude
Posture estimating requires not only roll, pitch but also change is almost nothing. However, in case of AGV, The
yaw. In the case of roll and pitch, they can be fused in paper performs only the position calculation about X, Y axis,
acceleration sensor using KF whereas yaw. For this reason, in because Altitude change is almost nothing. In this case, X and
this paper, we choice the high-accuracy gyro sensor for Y axis of acceleration sensor should be exactly perpendicular
estimating of yaw than gyro sensor for roll and pitch. The to the center of the earth, because output values of
equation to calculate the angular velocity of 1-axis and 2-axis acceleration sensor include value of two type and acceleration
gyro sensor is as follows. In (1), Const presents the sensitivity sensor outputs to both acceleration of gravity and movement
of sensor. It has 0.250 and 0.242 when gyro sensor is 1-axis acceleration. If X and Y axis of acceleration sensor aren’t
and 2-axis, respectively. perpendicular to the center of the earth, Large errors occur
when calculating the position because the actual acceleration
 Angularvelocity = (GyroADC  GyrocenterConst  values. Moving vehicle makes the oscillation, though it

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 includes the difference according to the working B. Sensor fusion using KF
environments, and it makes the affect to acceleration sensor. Used gyro sensor and acceleration sensor in this paper
Low pass filter is used for compensation of oscillation. Fig. 2 belong to low cost sensors and can be applied for indoor AGV
shows the measured data of acceleration sensor which is whereas the INS inertial sensor belongs to high cost, which
applied to the low pass filter. used for air transportation or submarine. However, single
inertial sensor is hardly used alone because the lower cost
Figure 2. Result of low pass-filter of accelerometer.
sensors have the larger error. In this case, KF can make the
high accuracy of measured data from these sensors. For this
600 600
600 600

400 400
400 400

200 200 200 200 reason, we fused laser navigation sensor with inertial
X-axis Acc. Data

X-axis Acc. Data

X-axis Acc. Data

X-axis Acc. Data

0 0 0 0
navigation system using KF to overcome the weakness of
-200

-400
-200 -200

-400
-200

them. Moreover, this fused system makes the independence

from the kinematics of AGV. Fig. 4 presents the sensor fusion
-400 -400

-600 -600 -600 -600

0 200 0 400 200 600 400 800 600 1000 800 1200 1000 1400 1200 1600 1400 1800 16002000 1800 2000 0 200 0 400 200600 400800 1000
600 1200
800 1400
1000 1600
1200 1800
1400 2000
1600 1800 2000

block using KF.

Time Time Time Time

(a) before (b) after

Figure 4. Sensor fusion using KF.
400 400 400 400

200 200 200 200

However, define the system error and measurement error

Y-axis Acc. Data

Y-axis Acc. Data

Y-axis Acc. Data

Y-axis Acc. Data

0 0 0 0

Gyro Low pass b Attitude  ,  ,

-200 -200
 ,  ,
of KF is important for fusion of laser navigation and
-200 -200
Sensor filter computation Laser
-400 -400
-400 -400
Navigation
acceleration sensor.
-600
-600

0 200 400 600 800 1000 1200 1400 1600 1800 2000
-600
-600

0 200 400 600 800 1000 1200 1400 1600 1800 2000 Kalman
0 200 400 600 800 1000 1200 Time 1400 1600 1800 2000 0 200 400 600 800 1000 1200 1400
Time 1600 1800 2000 Cbn
Time Time
filter

TABLE III. ERROR OF ACCELERATION SENSOR IN STOP Center

f b Transformation fn Navigation
Accelerometer to reference V n, X n
Compensation axes Processing

Parameter X-axis Y-axis

average 0.40 -0.29

C. Position compensation using FIS
maximum 7.34 7.35
Through the process of sensor fusion using KF, we are
minimum -6.96 -7.74 able to calculate the velocity and position for each x-axis and
variance 10.2453 10.6134 y-axis. However, localization using acceleration is perfectly
unable to compensate the localization error after the initial
acceleration was decided. Used acceleration sensor of
In this paper, we moved the acceleration sensor for each proposed sensor fusion localization method has the weakness
axis with fixed speed. Table 3 shows the error of acceleration in noise of sensor or external oscillation, and the reliability of
sensor with stopped state. Calculating the error is done by information of position which calculated from SINS gets
comparison the average of nearly 50 data with measured data lower as time goes by. To solve such problem, we designed
of acceleration sensor. Table 3 shows the two results. One of FIS which considered the direction of real AGV and the
them, for X-axis, has the 0.40 average error and 10.2453 direction of estimated position calculated from KF. FIS is
variance error when the acceleration sensor kept the stopped designed because the output of accelerometer was presented
state. In case of Y-axis, it has the –0.29 average error and as shown in Fig. 5.
10.6134 variance errors, too.
Figure 5. Output of accelerometer.
20 20 2 2

0 0
0

III. PROPOSED SYSTEM

0
-2 -2

-20 -20 -4 -4
X-axis position(mm)

Y-axis position(mm)
X-axis position(mm)

Y-axis position(mm)

-6 -6
-40 -40
-8 -8

A. System configuration -60 -60

-10 -10

-80 -80 -12 -12

This section shows the compensation method of proposed -100 -100

-14

-16
-14

SINS and posture estimating method. Fig. 3 shows the

-16

-120 -120 -18 -18

0 1000 200
100 300
200 400
300 500
400 600
500 600 0 1000 200
100 300200 400300 500400 600500 600

proposed localization method of SINS for AGV.

Time Time Time Time

(a) x-axis (b) y-axis

Figure 3. Flow of proposed method of sensor fusion.

Fig. 5 (a) presents the local position of AGV for each

x-axis and y-axis when the AGV moved 100mm toward to
x-axis. We can know that the AGV moved only x-axis but the
position of AGV shows the movement toward to y-axis, also.
However, yaw scarcely has the change because the direction
of AGV’s driving is calculated from gyro sensor and laser
navigation, and it is exactly able to present the direction of
AGV’s driving, relatively. The direction of AGV’s driving
can be calculated by (2) if the AGV’s previous position and
current position were known. Using this information, we

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applied FIS to compensate the error of local position which exist, we can’t confirm the quantified performance of all
has the uncertain value. driving courses. However, setting intentionally interval to
block measurement of laser navigation, we verify the
  = tan-1(yt+1-yt / xt+1-xt)  performance through the work to compare value to check
actually using laser navigation. Laser navigation is equipment
In (2), x, y presents the position, and  present the with high reliability as machine to measure with an error
calculated angle, respectively. tolerance of 4~10mm in designated indoor area. The laser
In this paper, the angle which calculated by KF and yaw navigation in experiment is NAV200 of Co. SICK. Fig. 7 is
which measured from gyro sensor and laser navigation are the experimental space and the AGV used in experiments.
considered to FIS as input values. Output value of FIS
presents the transformation angle to correct the direction of B. Localization Test
AGV ’ s driving. Fig. 6 shows the input and output Figure 7. Mecanum wheeled AGV and experiments area
membership function of FIS, and Table 4 shows the rules of
FIS.
Figure 6. Result of straight driving.
L M H L M H
1 1

0.8 0.8
Degree of membership
Degree of membership

0.6 0.6

0.4 0.4

0.2 0.2

0 0

0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350
Angle using position Angle of gyro and laser navigation

(a) Position Angle(Input 1) (b) Yaw Angle(Input 2)

L ML M MH H
1

0.8
Degree of membership

0.6

0.4

0.2
As mentioned, experimental method is that the AGV was
0
repeatedly driving 10 times each about all directions, that is
0 50 100 150 200
Angle for compensation
250 300 350
straight, side and diagonal, and that a half of total running
(c) Angle for compensation(Output)
times is stopped intentionally. If laser navigation doesn’t
perform for 1~2 seconds per 2~3 times about entire driving
times, the way to block is that observational value of Kalman
filter doesn’t be inputted. Fig. 8 shows a result which was
TABLE IV. RULE OF FUZZY REFERENCE chosen randomly among repeated experiments 10 times about
straight driving.
Position
Angle L M H Figure 8. Result of straight driving.
Yaw Angle
L L ML L

M ML M MH

H L MH H

For FIS, Mamdani fuzzy is applied, and Centroid of area

(COA) is applied as the defuzzification. Equation (3) shows
the equation of COA.

 COAyiyiyi 

IV. EXPERIMENT
In Fig. 8, it is graph about measured positions and it is
A. Experimental Environment graph to expand a section among randomly blocked sections
To evaluate the performance of localization using the in total running results. As shown in Fig 8, localization using
proposed sensor fusion, we performed experiments to the proposed sensor fusion supplements blocking of laser
measure the position about driving of straight, side and navigation exactly. Table 5 shows maximum distance errors
diagonal of 3x3 m2 using a Mecanum wheel AGV. Since the and average distance errors to calculate 10 times in blocked
true value to verify the behavior of laser navigation doesn’t sections about straight driving.

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 TABLE V. DISTANCE ERRORS OF STRAIGHT DRIVING straight driving. This result occurs because the vibrations of
st
1 blocking(1sec) nd
2 blocking(1sec) Mecanum wheel AGV of sideways driving are happened more
Times Maximum Average Maximum Average frequently than straight driving. Finally, Fig. 10 shows a result
(mm) (mm) (mm) (mm) of diagonal driving and Table 7 shows errors to calculate 10
1 13.5086 6.4532 13.0391 6.6571 times of diagonal driving.
2 13.1056 4.5092 13.6952 6.7201 Figure 10. Result of straight driving.
…… …… …… …… ……

9 12.9962 4.1164 13.3033 6.5781

10 13.1383 4.5101 12.9693 6.5988

avg 13.1589 4.5966 13.4509 6.8988

In the case of blocking, maximum error is 13.1589mm and

average error is 4.5966mm at 1st blocking time. Similarly
maximum error is 13.4509mm and average error is 6.8988mm
at 2st blocking time. Fig. 9 shows a result of sideways driving
and Table 6 shows errors to calculate 10 times of sideways
driving.
Figure 9. Result of straight driving.

TABLE VII. DISTANCE ERRORS OF DIAGONAL DRIVING

st
1 blocking(1sec) 2nd blocking(1sec)
Times Maximum Average Maximum Average
(mm) (mm) (mm) (mm)
1 13.5086 6.4532 13.0391 6.6571

2 13.1056 4.5092 13.6952 6.7201

…… …… …… …… ……

9 10.1448 2.4532 10.8206 6.2243

10 10.0867 2.3199 10.1460 4.7020

avg 13.9199 4.0976 12.9752 5.8357

As mentioned earlier, maximum error of diagonal driving

TABLE VI. DISTANCE ERRORS OF SIDEWAYS DRIVING is 13.9199mm and average error of diagonal driving is
1st blocking(1sec) 2nd blocking(1sec) 4.0976mm at 1st blocking time. At 2st blocking time,
Times Maximum Average Maximum Average maximum error is 12.9752mm and average error is
(mm) (mm) (mm) (mm) 5.8357mm. Likewise, diagonal driving has similar errors, but
1 13.5086 6.4532 13.0391 6.6571 error change is bigger than straight or sideways driving. This
result occurs because the vibrations of Mecanum wheel AGV
2 13.1056 4.5092 13.6952 6.7201 are happened more frequently than straight or sideways
…… …… …… …… …… driving. As an experimental result, accumulated error of SINS
for 1~2 seconds decreased. If laser navigation isn’t working
9 12.8504 6.8317 18.5931 9.9893
for 1~2 seconds, control error increases rapidly. SINS has
10 12.6703 3.4438 12.0995 5.8907 more error than laser navigation, but can localization
consistently.
avg 13.4333 4.7352 13.8419 5.8253

In the case of blocking of sideways driving, maximum V. CONCLUSIONS

error is 13.4333mm and average error is 4.7352mm at 1st
blocking time. At 2st blocking time, maximum error is
13.8419mm and average error is 5.8253mm. Fig. 9 shows a
result of sideways driving and Table 6 shows errors to
calculate 10 times of sideways driving. Straight and sideways
driving to be stable relatively with no wobble have similar
errors, but error change of sideways driving is bigger than
The purpose of this study is about t localization which is
faster and higher precision through Sensor fusion of
strapdown inertial navigation system(SINS). To develop
common localization system, we supplement a localization
sensor to select SINS to be suitable for property of AGV. The
method to correct error about measuring data of gyro sensor to

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be used for SINS is by using stochastically distribution
characteristics of gyro sensor data. Acceleration sensor error
of measurement data is corrected by applying a low-pass filter
generally. Attitude heading reference system(AHRS) for
SINS is applied model to be used Kalman filter of quaternion
form applied by AHRS generally. We simplify location
calculation process considering both fast measuring velocity
of 10~50ms and distance. We also simplify location
calculation process considering that z-axis of AGV isn’t
change in operation. SINS and common localization sensor,
laser navigation, is fused by Kalman filter. In order to correct
the position error, we applied the fuzzy inference system. To
verify the performance of the localization system, Mecanum
wheel AGV performed experiment applied localization
system. Using Mecanum wheel AGV, We analyzed
localization performance of localization system in situation
that cannot be measured using laser navigation, because
Mecanum wheel AGV is too slow and measured density of
laser navigation is high comparatively. As analyses result,
maximum error is 13.1589mm and average error is 4.5966mm
of straight driving, maximum error is 13.4333mm and average
error is 4.7352mm of sideways driving, maximum error is
13.9199mm and average error is 4.0976mm of diagonal
driving. We could confirm that AGV verified position quickly
and accurately like the results of the experiments.
ACKNOWLEDGMENT
This research was supported by the MKE(The Ministry of
Knowledge Economy), Korea, under the Human Resources
Development Program for Special Environment
Navigation/Localization National Robotics Research Center
support program supervised by the NIPA(National IT
Industry Promotion Agency). (H1502-13-1001).
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