Abstract

Indoor transportation systems are a key area of development, where Automated Guided Vehicles (AGVs) help to increase efficiency and reduce labor costs. However, high-precision positioning technologies such as LiDAR and GNSS are expensive, making them unsuitable for widespread use. This research has developed a low-cost positioning system for indoor AGVs using multiple sensors, including CCTV, UWB, inertial measurement units (IMUs), and encoders. The experiment was carried out under both static and dynamic conditions. In static tests, Trilateration distance measurements show a lower positioning error than the triangular method, with a maximum error of 1.4464 m (x-axis) and 1.0464 m (y-axis) in dynamic tests. The integrated Encoder and IMU sensor data yielded the lowest error (RMSE = 0.0732 m at 0.4 m/s, 0.0678 at 0.27 m/s), Next is CCTV, while UWB has the highest error rate. The application of a Parallel Sensor Fusion architecture optimized using a Generalized Reduced Gradient (GRG) nonlinear algorithm, significantly reduced localization errors. The RMSE values decreased to 0.0623 m (0.4 m/s) and 0.0411 m (0.27 m/s). The results, in a controlled environment laboratory, indicate that combining multiple sensors will improve the positioning accuracy. Combining the encoder and IMU effectively reduces accumulated errors and increases system stability. While Adjust the weight of the sensor offline, this proposed system offers a cost-effective positioning solution for indoor AGVs, which contributes to the development of affordable and accurate AGV navigation systems.