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Beliveau, Y.J., Fithian, J.E. and Deisenroth, M.P.
Autonomous vehicle navigation with real-time 3D laser based positioning for construction
Automation in Construction 5 (4) (1996) pp. 261-272
Autonomous Guided Vehicles (AGVs) are a way of life in manufacturing where navigation can be done in a structured environment. Construction is an unstructured environment and requires a different type of navigation system to deal with three dimensional control and rough terrain. This paper provides a review of navigation systems that utilize dead-reckoning in conjunction with absolute referencing systems such as beacon-based systems, and vision and mapping based system. The use of a real-time laser based technology is demonstrated as a new form of navigation. This, technology does not rely on dead reckoning. The paper outlines the issues and strategies in guiding an autonomous vehicle utilizing only the laser-based positioning system. Algorithms were developed to provide real-time control of the AGV. The laser based positioning system is unique in that it provides three dimensional position data with five updates per second. No other system can provide this level of performance. This allows for control of end effectors and autonomous vehicles in complex and unstructured three dimensional environments. The use of this new type of navigation makes possible the automation of large complex assemblies in rough terrain such as construction.