Absolute Position Measurement for Automated Guided Vehicles using the Greedy DeBruijn Sequence

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2006
Accession Number
ADA457411

Entities

People

  • John E. Ortiz

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Applied Mathematics
  • Automated Guided Vehicles
  • Coefficients
  • Compilers
  • Computations
  • Electrical Engineering
  • Engineering
  • Mathematics
  • Numbers
  • Permutations
  • Polynomials
  • Prime Numbers
  • Sequences
  • Shift Registers
  • Statistics
  • Steady State

Readers

  • Computer Programming and Software Development.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Space
  • Space - Space Objects