Automatic Guided Vehicle (AGV) tracking model estimation with Ensemble Kalman Filter

Belgis Ainatul Iza*, Qori Afiata Fiddina, Helisyah Nur Fadhilah, Didik Khusnul Arif, Mardlijah

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Many industries have adopted Automatic Guided Vehicles (AGV) into production lines such as automobile factories, food processing, woodworking, and other factories. Therefore, the problem of tracking the trajectory of the AGV system needs to be solved to meet the needs of the industry. The accuracy of a system model is strongly influenced by the completeness of the state in the dynamic system. So that, an estimator is needed to meet the state requirements that cannot be measured. We derive the mathematical model of Automatic Guided Vehicle (AGV) with some assumptions, so we can obtain the non-linear AGV trajectory model. Then, we discrete the non-linear model at first before estimating it with Ensemble Kalman Filter (EnKF) algorithm. In the simulation only two states out of five are observable, so we use observations on literal velocity and yaw rate of AGV system. We use RMSE to validate the accuracy of the EnKF algorithm. The simulation results show that the non-linear AGV model that has been derived can be estimated well with the EnKF algorithm.

Original languageEnglish
Title of host publication7th International Conference on Mathematics - Pure, Applied and Computation
Subtitle of host publicationMathematics of Quantum Computing
EditorsMuhammad Syifa�ul Mufid, Dieky Adzkiya
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735442917
DOIs
Publication statusPublished - 19 Dec 2022
Event7th International Conference on Mathematics: Pure, Applied and Computation: , ICoMPAC 2021 - Surabaya, Indonesia
Duration: 2 Oct 2021 → …

Publication series

NameAIP Conference Proceedings
Volume2641
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference7th International Conference on Mathematics: Pure, Applied and Computation: , ICoMPAC 2021
Country/TerritoryIndonesia
CitySurabaya
Period2/10/21 → …

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