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Sistema de deteção e contorno de obstáculos para robótica móvel baseado em sensor kinect

Cordeiro, Ted Ferreira
Fonte: Instituto Politécnico de Bragança Publicador: Instituto Politécnico de Bragança
Tipo: Dissertação de Mestrado
Português
Relevância na Pesquisa
35.89%
Nestes últimos anos, as aplicações dos veículos guiados automaticamente alargaram-se e já não estão limitadas ao setor industrial. Hospitais, meios de transporte públicos e particulares, museus, aeroportos, televigilância, são exemplos de tarefas que podem ser realizadas por um AGV. A crescente utilização do sensor Kinect para visualização tridimensional do mundo em substituição de um laser é uma solução de baixo custo. Esta tese aborda o tema de um sistema de deteção e contorno de obstáculos para robótica móvel baseada nesse sensor. Para isso, foi necessário construir um robô móvel diferencial para validar os algoritmos de deteção e contorno de obstáculos do sistema. Um trajeto alvo será definido por uma faixa no solo. Ainda assim, é estimada e registada graficamente a posição absoluta do robô com base na odometria. O trajeto alternativo do robô em caso de obstáculo terá de ser o mais perto possível da linha e sem haver colisões. O robô terá de reconhecer as extremidades do percurso, dar meia volta e recomeçar o trajeto em sentido oposto. O sistema desenvolvido também permitirá monitorizar parâmetros do robô. O principal objetivo é que o robô seja capaz de seguir a trajetória desejada evitando obstáculos detetados com base nas imagens de profundidade...

Sistema de localização para AGVs em ambientes semelhantes a armazéns inteligentes; Location system for AGVs in environments similar to smart warehouses

Moraga Galdames, Jorge Pablo
Fonte: Biblioteca Digitais de Teses e Dissertações da USP Publicador: Biblioteca Digitais de Teses e Dissertações da USP
Tipo: Dissertação de Mestrado Formato: application/pdf
Publicado em 23/04/2012 Português
Relevância na Pesquisa
36.28%
A demanda por mais flexibilidade nas fábricas e serviços originou um aumento no volume de operações internas de carga e descarga, devido à maior diversidade dos elementos transportados. Logo, na busca por um fluxo de materiais mais eficiente, as empresas passaram a investir em soluções tecnológicas, entre elas, o uso de Automated Guided Vehicles (AGVs), por conta do custo mais atrativo e do avanço em relação aos primeiros AGVs, que até então dependiam de uma infraestrutura adicional para suportar a navegação. Muitos AGVs modernos possuem movimentação livre e são orientados por sistemas que utilizam sensores para interpretar o ambiente, sendo assim, tornar os AGVs autônomos despertou o interesse de pesquisadores na área de robótica móvel para o desenvolvimento de sistemas capazes de auxiliar e coordenar a navegação. Novas técnicas de localização, tal como a localização baseada em marcadores reflexivos, e a construção de armazéns com layouts estruturados para a navegação viabilizaram o uso de AGVs autônomos, entretanto sua utilização em armazéns existentes ainda é um desafio. Neste contexto, o Laboratório de Robótica Móvel (LabRom) do Grupo de Mecatrônica da EESC/USP, através do projeto do Armazém Inteligente...

IEEE 802.15.4 - redes de sensores sem fio como infra-estrutura para comunicação entre veiculos e sistemas de controle; IEEE 802.15.4 - wireless sensor network as infrastructure for intervehicle communication and control systems

Jurandy Antonio do Nascimento
Fonte: Biblioteca Digital da Unicamp Publicador: Biblioteca Digital da Unicamp
Tipo: Dissertação de Mestrado Formato: application/pdf
Publicado em 14/02/2007 Português
Relevância na Pesquisa
26.01%
Devido ao crescente interesse em automação de rodovias e ao desenvolvimento e a viabilidade econômica de tecnologias de comunicação sem fio, surgiram nos últimos anos projetos para a comunicação entre veículos que possibilitam que dados de sensores locais, indicando situação de risco, sejam transmitidos para outros veículos de sua vizinhança para sinalizar a situação, ou mesmo para uma possível atuação no fluxo do tráfico local. É apresentada aqui uma infra-estrutura de comunicação sem fio que faz uso da especificação IEEE 802.15.4 para a comunicação entre veículos e que tem aplicações também em controle de sistemas, devido à sua característica versátil; Due to the increasing interest on roads automation and to the development and the economic viability of wireless communication technologies, it has appeared in the last years projects to implement inter-vehicle communication links which makes possible that local sensors data, indicating risk situation, to be transmitted to others vehicles on its neighborhoods to signalize the situation or even to a possible actuation on the local traffic flow. It is presented here a wireless communication infrastructure that makes use of IEEE 802.15.4 specification for inter-vehicle communication and also for control systems applications due to its versatile characteristics

The operation of autonomous mobile robot assistants in the environment of care facilities adopting a user-centered development design

Compagna, Diego; Derpmann, Stefan; Mauz, Kathrin
Fonte: IET Publicador: IET
Tipo: Artigo de Revista Científica
Publicado em /06/2009 Português
Relevância na Pesquisa
35.89%
The participation of the Fraunhofer Institute for Manufacturing Engineering and Automation IPA (Stuttgart, Germany) and the companies User Interface Design GmbH (Ludwigsburg, Germany) plus MLR System GmbH (Ludwigsburg, Germany) enabled the research and findings presented in this paper; we would like to namely mention Birgit Graf and Theo Jacobs (Fraunhofer IPA) furthermore Peter Klein and Christiane Hartmann (User Interface Design GmbH).; The successful development of autonomous mobile robot assistants depends significantly on the well-balanced reconcilements of the technically possible and the socially desirable. Based on empirical research substantiated conclusions can be established for the suitability of "scenario-based design" (Rosson/Carroll 2003) for the successful development of mobile robot assistants and automated guided vehicles to be applied for service functions in stationary care facilities for seniors.

Context classification for service robots

Miranda, Fábio Miguel Fitas
Fonte: Universidade Nova de Lisboa Publicador: Universidade Nova de Lisboa
Tipo: Dissertação de Mestrado
Publicado em /09/2014 Português
Relevância na Pesquisa
35.89%
This dissertation presents a solution for environment sensing using sensor fusion techniques and a context/environment classification of the surroundings in a service robot, so it could change his behavior according to the different rea-soning outputs. As an example, if a robot knows he is outdoors, in a field environment, there can be a sandy ground, in which it should slow down. Contrariwise in indoor environments, that situation is statistically unlikely to happen (sandy ground). This simple assumption denotes the importance of context-aware in automated guided vehicles.

Dynamic AGV-Container Job Deployment Strategy

Sen, Hock Chan
Fonte: MIT - Massachusetts Institute of Technology Publicador: MIT - Massachusetts Institute of Technology
Tipo: Artigo de Revista Científica Formato: 159439 bytes; application/pdf
Português
Relevância na Pesquisa
66.22%
Automated Guided Vehicles (AGVs) are now becoming popular in container-handling applications at seaport. Efficacy of the dispatching strategy adopted to deploy AGVs is a prime factor affecting the performance of the entire system. The objective of this project is thus to develop an efficient dispatching strategy to deploy AGVs in a container terminal. The scenario considered was a container terminal where containers are uploaded to and discharged from ships. Discharged containers are stored at specific storage locations in the terminal yard. Containers are moved between dock and yard by a dedicated fleet of AGVs. At any point of time, each AGV carries at most two containers. This two-container load may comprise of any plausible permutation of containers for discharge or upload. To reduce congestion and increase utility level, an efficient dispatching strategy for AGVs is paramount. At present, a variety of heuristic methods for dispatching AGVs are available, but these methods were primarily developed to work in a manufacturing context where the network structure is uncomplicated and only a small number of AGVs are required. The situation under consideration entails greater network complexity and also a large fleet of close to 80 AGVs. In this study...

Simulation Study of a Semi-Dynamic AGV-Container Unit Job Deployment Scheme

Cheng, Yong Leong
Fonte: MIT - Massachusetts Institute of Technology Publicador: MIT - Massachusetts Institute of Technology
Tipo: Artigo de Revista Científica Formato: 462108 bytes; application/pdf
Português
Relevância na Pesquisa
56.22%
Automated Guided Vehicle (AGV) Container-Job deployment is essentially a vehicle-dispatching problem. In this problem, the impact of vehicle dispatching polices on the ship makespan for discharging and/or loading operations is analyzed. In particular, given a storage location for each container to be discharged from the ship and given the current location of each container to be loaded onto the ship, the problem is to propose an efficient deployment scheme to dispatch vehicles to containers so as to minimize the makespan of the ship so as to increase the throughput. The makespan of the ship refers to the time a ship spends at the port for loading and unloading operations. In this paper, we will compare the performance of current deployment scheme used with the new proposed deployment scheme, both with deadlock prediction & avoidance algorithm done in previous study [1]. The prediction & avoidance algorithm predicts and avoids cyclic deadlock. The current deployment scheme, namely pmds makes use of a greedy heuristics which dispatches the available vehicle that will reach the quay with the minimum amount of time the vehicle has to spend waiting for the crane to discharge/load the container from/onto the ship. The new deployment scheme...

Absolute position measurement for automated guided vehicles using the Greedy DeBruijn Sequence

Ortiz, John E.
Fonte: Monterey California. Naval Postgraduate School Publicador: Monterey California. Naval Postgraduate School
Tipo: Tese de Doutorado
Português
Relevância na Pesquisa
66.22%
Automated Guided Vehicles (AGVs) use different techniques to help locate their position with respect to a point of origin. This thesis compares two approaches that utilize a binary track laid on the floor for the AGV to follow. Both approaches use equally spaced n-tuples on the track that the AGV can use to compute its position. Both approaches also have the special feature that every n-tuple on the binary track is unique and can be used to designate the position of an AGV. The first approach, developed by E.M. Petriu, uses a Pseudo-Random Binary Sequence (PRBS) as a model for the binary track. In the second approach, we use a Greedy DeBruijn Sequence (GDBS) as a model for the binary track. Unlike the PRBS model, the GDBS model has a natural ordering which can be used to determine the position of the AGV more quickly and efficiently than the PRBS model.

An effective noise filtering method for mine detection

Hong, Bryan Y.
Fonte: Monterey, California. Naval Postgraduate School Publicador: Monterey, California. Naval Postgraduate School
Tipo: Tese de Doutorado
Português
Relevância na Pesquisa
15.89%
Automatic detection of sea mines in coastal regions is difficult due to highly varying sea bottom conditions present in the underwater environment. Detection systems must be able to discriminate objects that vary in size, shape, and orientation from naturally occurring and man-made clutter. Additionally, these automated systems must be computationally efficient to be incorporated into Unmanned Aerial Vehicle (UAV) sensor systems characterized by high sensor data-rates and limited processing abilities. Commonly used noise filters largely depend on the window (or neighborhood) size, which makes the mine detection ineffective. Using the bi-dimensional empirical mode decomposition (BEMD) analysis, an effective, robust sea mine detection system can be created. A family of decomposed images is generated and applied to optical lidar image data from the Rapid, Overt, Airborne, Reconnaissance (ROAR) experiment supplied by Naval Surface Warfare Center, Panama City. These decompositions project key image features, geometrically defined structures with orientations, and localized information into distinct orthogonal components or feature subspaces of the image. Application of the BEMD method to the analysis on side scan sonar data is also provided. Accurate detection and classification of mines is time consuming and requires divers or Autonomous Underwater Vehicles (AUV) in the water. The navy continues to pursue more expedient methods in mine countermeasures...

Aplicação de princípios Lean thinking numa empresa do setor automóvel : a importância dos KPI

Lopes, João Filipe Gonçalves
Fonte: Universidade de Aveiro Publicador: Universidade de Aveiro
Tipo: Dissertação de Mestrado
Português
Relevância na Pesquisa
66.4%
O presente relatório descreve um projeto que teve como principal objetivo a redução do valor de um Key Performance Indicator (KPI) que avalia e compara o desempenho de linhas de montagem na indústria automóvel. Nesse sentido, recorreu-se ao Lean Thinking e a algumas das suas ferramentas para eliminar desperdícios e melhorar a forma como as atividades de valor acrescentado são feitas, com especial foco nos abastecimentos logísticos das linhas montagem. A recolha de dados que permitiu identificar processos sem valor acrescentado foi uma etapa crucial para o desenvolvimento da estratégia de melhoria a implementar, que culminou com a eliminação das grandes embalagens nas linhas e a automatização do abastecimento das linhas com a utilização de Automated Guided Vehicles. As alterações propostas pelo projeto resultaram em melhorias que se encontram devidamente demonstradas e fundamentadas, tendo acabado por ter um impacto direto positivo no KPI.; This report explains the development of a project that had, as its main goal, the reduction of the value of a Key Performance Indicator (KPI) that is used to evaluate and compare the performance of assembly lines in the automotive industry. In this context, Lean Thinking and some of its tools were used to eliminate waste and improve the way value added tasks are done...

Configuration spaces and braid groups on graphs in robotics

Ghrist, Robert
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 05/05/1999 Português
Relevância na Pesquisa
35.89%
Configuration spaces of distinct labeled points on the plane are of practical relevance in designing safe control schemes for Automated Guided Vehicles (robots) in industrial settings. In this announcement, we consider the problem of the construction and classification of configuration spaces for graphs. Topological data associated to these spaces (eg, dimension, braid groups) provide an effective measure of the complexity of the control problem. The spaces are themselves topologically interesting objects: we show that they are $K(\pi_1,1)$ spaces whose homological dimension is bounded by the number of essential vertices. Hence, the braid groups are torsion-free.; Comment: 14 pages, 3 figures

Energy-efficient Rail Guided Vehicle Routing for Two-Sided Loading/Unloading Automated Freight Handling System

Hu, Wuhua; Mao, Jianfeng; Wei, Keji
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 05/02/2015 Português
Relevância na Pesquisa
36.22%
Rail-guided vehicles (RGVs) are widely employed in automated freight handling system (AFHS) to transport surging air cargo. Energy-efficient routing of such vehicles is of great interest for both financial and environmental sustainability. Given a multi-capacity RGV working on a linear track in AFHS, we consider its optimal routing under two-sided loading/unloading (TSLU) operations, in which energy consumption is minimized under conflict-avoidance and time window constraints. The energy consumption takes account of routing-dependent gross weight and dynamics of the RGV, and the conflict-avoidance constraints ensure conflict-free transport service under TSLU operations. The problem is formulated as a mixed-integer linear program, and solved by incorporating valid inequalities that exploit structural properties of the problem. The static problem model and solution approach are then integrated with a rolling-horizon approach to solve the dynamic routing problem where air cargo enters and departs from the system dynamically in time. Simulation results suggest that the proposed strategy is able to route an RGV to transport air cargo with an energy cost that is considerably lower than one of the most commonly used heuristic methods implemented in current practice.; Comment: 30 pages...

Supervisor Localization of Discrete-Event Systems under Partial Observation

Zhang, Renyuan; Cai, Kai
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Português
Relevância na Pesquisa
35.89%
Recently we developed supervisor localization, a top-down approach to distributed control of multi-agent discrete-event systems. Its essence is the allocation of monolithic (global) control action among the local control strategies of individual agents. In this paper, we extend supervisor localization by considering partial observation, namely not all events are observable. Specifically, we use the recently proposed concept of relative observability (closed under union) to compute the feasible and nonblocking partially-observed monolithic supervisor; then we develop a localization procedure to decompose the monolithic supervisor into a set of local controllers under partial observation. The key concept of the localization procedure is a partially-observed control cover, and in the resulting local controllers only observable events can cause state changes. The results are illustrated by a Transfer Line example. Further, to deal with large-scale systems, we combine the partially-observed supervisor localization with an efficient heterarchical synthesis procedure; this is applied to study the distributed control of automated guided vehicles serving a manufacturing workcell under partial observation. Next, we apply the partially-observed supervisor localization procedure to design robust local controllers that are able to cope with the intermittent loss of observations. Finally...

Safe cooperative robot dynamics on graphs

Ghrist, Robert; Koditschek, Daniel
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 24/02/2000 Português
Relevância na Pesquisa
35.89%
This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of pathways. In contrast to the case of locally Euclidean configuration spaces, regularization of collisions is no longer a local procedure, and issues concerning the global topology of configuration spaces must be addressed. The focus of the present inquiry is the achievement of safe, efficient, cooperative patterns in the simplest nontrivial example (a pair of robots on a Y-network) by means of a state-event heirarchical controller.; Comment: 18 pages, 5 figures

A study of Time-varying Cost Parameter Estimation Methods in Traffic Networks for Mobile Robots

Das, Pragna; Xirgo, Lluís Ribas
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 08/12/2015 Português
Relevância na Pesquisa
35.89%
Industrial robust controlling systems built using automated guided vehicles (AGVs) requires planning which depends on cost parameters like time and energy of the mobile robots functioning in the system. This work addresses the problem of on-line traversal time identification and estimation for proper mobility of mobile robots on systems' traffic networks. Several filtering and estimation methods have been investigated with respect to proper identification of traversal time of arcs of systems' transportation graphs. We have found that traversal times vary along time due to a variety of factors, including the battery charge of the robot, and that the best method to predict the next value must account not only for these but for a high variance. Results show that path planning and navigation for each of the mobile robots can be made much more efficient with this approach.; Comment: Submitted to ICRA'2016

Control de Robots Móviles Autónomos : Planificación de rutas en mapas geométricos

García Centelles, David
Fonte: Universidade Autônoma de Barcelona Publicador: Universidade Autônoma de Barcelona
Tipo: info:eu-repo/semantics/bachelorThesis; Text Formato: application/pdf
Publicado em 28/06/2015 Português
Relevância na Pesquisa
36.4%
La implementación de los AGV (Automated Guided Vehicles) en pequeñas empresas puede suponer un coste inicial demasiado elevado, por lo que son necesarios AGVs económicos donde el peso de la implementación recae en el software. En este documento se presenta el desarrollo e implementación de un algoritmo para la planificación de rutas en un mapa 2D a partir de su transformación en un mapa topológico. Se han estudiado las alternativas existentes y se han analizado nuevas hasta encontrar una solución adecuada, que consiste en un método propio basado en uno de expansión. Como resultado se ha obtenido un algoritmo funcional que se ha probado en diferentes escenarios para analizar su comportamiento.; L'implementació dels AGV (Automated Guided Vehicles) en petites empresas pot suposar un cost inicial massa elevat, per la qual cosa són necessaris AGVs econòmics on el pes de l'implementació recau en el software. En aquest document es presenta el desenvolupament i l'implementació d'un algorisme per a la planificació de rutes en un mapa 2D a partir de la seva transformació en un mapa topològic. S'han estudiat les alternatives existents i s'han analitzat de noves fins a trobar una solució adequada, que consisteix en un mètode propi basat en un d'expansió. Com a resultat s'ha obtingut un algorisme funcional que s'ha provat en diferents escenaris per analitzar el seu comportament.; Implementation of AGV (Automated Guided Vehicles) in small businesses may have too high initial cost...

A timed state space-heuristic search framework for colored petri net-based scheduling of discrete event systems —an application to flexible manufacturing systems

Baruwa, Olatunde Temitope
Fonte: [Barcelona] : Universitat Autònoma de Barcelona, Publicador: [Barcelona] : Universitat Autònoma de Barcelona,
Tipo: Tesis i dissertacions electròniques; info:eu-repo/semantics/doctoralThesis; info:eu-repo/semantics/publishedVersion Formato: application/pdf
Publicado em //2015 Português
Relevância na Pesquisa
35.99%
Para obtener una ventaja competitiva en el mercado global, los fabricantes tienen que adaptarse rápidamente sus sistemas para responder a las fluctuantes demandas de los clientes en virtud de factores de servicio de alta calidad. La alta inversión de capital en los sistemas de fabricación flexible (SFFs), junto con los desafíos de las condiciones de mercado que cambian rápidamente se ha convertido en esencial la utilización eficiente de los recursos. Para maximizar los beneficios de un SFF, se necesita una implantación de técnicas de programación e planificación adecuadas para aprovechar plenamente las flexibilidades de fabricación. El objetivo global de esta tesis es establecer un marco de programación basado en el modelado de redes de Petri coloreadas temporales (RdPCT) para optimizar el rendimiento de los SFF mediante el desarrollo de herramientas y métodos de búsqueda eficientes basados en el análisis del espacio de estados (EdE). El análisis del espacio del estado es una herramienta potente que se puede utilizar para automatizar la actividad de toma de decisiones en problemas de programación mediante el seguimiento de todos los posibles comportamientos del sistema modelado. Sin embargo, adolece del problema de explosión de espacio de estado debido a la complejidad computacional de los problemas de programación de la producción en SFFs. Lo que ha limitado su aplicabilidad a problemas de tamaño pequeño. En la metodología de la programación propuesta...

Planificación de rutas cooperativas

Quirós Pérez, David
Fonte: Universidade Autônoma de Barcelona Publicador: Universidade Autônoma de Barcelona
Tipo: info:eu-repo/semantics/bachelorThesis; Text Formato: application/pdf
Publicado em 29/06/2015 Português
Relevância na Pesquisa
36.01%
Actualmente se utilizan vehículos de guiado automatizado (AGV) en almacenes industriales para la realización de tareas de transporte. El software que corren estos AGVs está pensado para trabajar en entornos no cambiantes o para seguimiento de rutas prefijadas. En este proyecto buscaremos soluciones para que un grupo de AGVs pueda trabajar en entornos cambiantes de forma cooperativa evitando conflictos (que coincidan en espacio y tiempo). De entre las soluciones que encontraremos, implementaremos una en el entorno de simulación NETLOGO. La solución elegida ha sido el Cooperative A*, un algoritmo derivado del clásico A*. Dicho algoritmo nos devolverá la ruta que seguirá cada AGV para realizar su tarea. Presentaremos algunos ejemplos de ejecución dónde podremos ver dichos resultados, aunque el algoritmo no es completo ya que hay un tipo de conflicto que no resuelve y no ha habido tiempo suficiente para implementar la solución.; Nowadays, automated guided vehicles (AGVs) are used in industrial warehouses for performing transport tasks. The software running these AGVs is designed to work in static environments or to follow pre-set routes. This project will seek solutions for a group of AGV to work on changing environments cooperatively avoiding conflicts (coincidence on space and time). Among the solutions we find...

Development of deterministic collision-avoidance algorithms for routing automated guided vehicles

Pai, Arun S.
Fonte: Rochester Instituto de Tecnologia Publicador: Rochester Instituto de Tecnologia
Tipo: Tese de Doutorado
Português
Relevância na Pesquisa
96.49%
A manufacturing job spends a small portion of its total flow time being processed on machines, and during the remaining time, either it is in a queue or being transported from one work center to another. In a fully automated material-handling environment, automated guided vehicles (AGV) perform the function of transporting the jobs between workstations, and high operational costs are involved in these material-handling activities. Consequently, the AGV route schedule dictates subsequent work-center scheduling. For an AGV job transportation schedule to be effective, the issue of collisions amongst AGV during travel needs to be addressed. Such collisions cause stalemate situations that potentially disrupt the flow of materials in the job shop, adding to the non-value time of job processing, and thus, increase the material handling and inventory holding costs. The current research goal was to develop a methodology that could effectively and efficiently derive optimal AGV routes for a given set of transportation requests, considering the issue of collisions amongst AGV during travel. As part of the solution approach in the proposed work, an integer linear program was formulated in Phase I with the capability of optimally predicting the AGV routes for a deterministic set of transportation requests. Collision avoidance constraints were developed in this model. The model was programmed using OPL / Visual Basic...

Robust localisation of automated guided vehicles for computer-integrated manufacturing environments

Dixon,R.C.; Bright,G.; Harley,R.
Fonte: South African Journal of Industrial Engineering Publicador: South African Journal of Industrial Engineering
Tipo: Artigo de Revista Científica Formato: text/html
Publicado em 01/01/2013 Português
Relevância na Pesquisa
66.5%
As industry moves toward an era of complete automation and 'mass customisation', automated guided vehicles (AGVs) are used as material handling systems. However, the current techniques that provide navigation, control, and manoeuvrability of automated guided vehicles threaten to create bottlenecks and inefficiencies in manufacturing environments that strive towards the optimisation of part production. This paper proposes a decentralised localisation technique for an automated guided vehicle without any non-holonomic constraints. Incorporation of these vehicles into the material handling system of a computer-integrated manufacturing environment would increase the characteristics of robustness, efficiency, flexibility, and advanced manoeuvrability.