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navigation
laser navigation
ranging navigation
visual texture navigation
multi-navigation
natural navigation
qr code navigation
magnetic nail navigation
magnetic tape navigation
laser navigation
laser navigation is the navigation technology that determines its current position and direction by installing reflectors around the agv driving path, emitting a laser beam and collecting the laser beam by the reflector at same time, and navigate the agv through continuous triangular geometric calculations.
today, laser navigation technology has been the mainstream and popular performance agv solution within agv manufacturers, thanks to its high positioning accuracy, flexible route changes, and mature navigation technology.
benefits
• accurate agv positioning.
• no other positioning accessories are required on the floor
• flexible and changeable driving path, can adapt to various field environments .
• preferable advanced navigation method for performance agv solution
disadvantage
• high cost, sensitive to strong lighting, ground requirements
• high price for navigation system.
• applied to open space
• high cost of reflector.

ranging navigation
ranging navigation is mainly applied to the laser two-position scanner to scan and measure the surrounding environment, obtain the measurement data and then combine the navigation algorithm to realize the agv navigation.
benefits
• long-distance measurement, a long distance can be measured in the condition of without or with very few reflectors.
• there is a synchronization input terminal, and multiple sensors can measure simultaneously;
• wide measurement range and short response time;
disadvantage
• the minimum detection distance is too long;
• infrared rangefinder can be easily be interfered by the environment, and cannot detect distances for black bodies or transparent objects, more suitable for short-distance transmission;
• cannot work properly when there are other obstacles. it is necessary to install receiving antennas and rails in each room and corridor, which is relatively expensive;
visual texture navigation
visual texture navigation, also known as visual slam navigation, is a method of navigation by acquiring image information around the operating area of the automatic guided vehicle through on-board visual sensor. it is a visual navigation technology by recognizing the floor texture as the characteristic information developed by yeefung.
the hardware mainly includes an visual industrial computer, a downward-looking camera, a fill light and a hood to support this navigation method. the rich ground texture information can be used and the displacement and rotation between the two images can be calculated based on the phase correlation method, then determines the current position through integrator．
benefits
• comparing with qr code: no markers needed on floor to keep clean.
• compared with laser slam: no need strict requirements for dynamic environment.
disadvantage
• collecting texture library requires a lot of work.
• not integrated with qr code navigation.
• the technology is still in improving and used in some selected applications.
multi-navigation
multi-navigation combines two or more than two kinds of navigation technologies to achieve multiple navigations for automatic guidance vehicle. for example, the combination of laser navigation and magnetic spot that uses laser navigation as the main navigation, and transfer to magnetic spot navigation when there is poor or even no laser reflection because of the obstacles.
the combination of laser navigation and magnetic spot navigation can increase the stability of agv positioning. the multi-navigation is to enable agv be more robust to adapt to different environments and widely used in various agvs projects.
benefits
disadvantage
natural navigation
natural navigation (laser slam) is also one types of laser navigation technologies, which determine its position and direction by sensing the surrounding environment through laser sensor. the difference from laser navigation with reflector above is that the positioning mark of the laser navigation (reflector) is the reflect plate or the reflect pillar, while the natural navigation can use the environment objects, such as the information of the wall in the working environment, without relying on the reflector. comparing with the traditional laser navigation, the construction cost and cycle time of natural navigation are lower, but the disadvantage is its higher sensitivity to the change of dynamic environment.
benefits
disadvantage
qr code navigation
qr code guidance is similar to magnetic spot navigation. qr code is laid on the floor, the qr code scanner installed on the bottom of the agv will scan the qr code to track the position information to navigate the vehicle.
benefits
• low cost, mature and reliable technology.
• good secrecy and aesthetics of navigation, it means magnetic nails are embedded in the drilling landfill under the ground, and there is no other navigation aids above the whole factory floor.
• magnetic nails have strong anti-interference, abrasion resistance and resistance to acid, alkali, oil and other influences.
• suitable for outdoor, indoor, rainy, etc.
disadvantage
• the agv navigation ground shall meet the technical requirements, i.e. there shall be no other magnetic materials in the agv navigation route; agv navigation lines should not contain degaussing or diamagnetic substances, which will affect the magnetism of agv magnetic nails.
• the agv magnetic nail navigation line is laid once, and the subsequent modification of the line must be carried out a second operation. compared with the laser navigation technology, magnetic nail navigation increases the cost and construction time for the later modification of the line.
• agv magnetic nail navigation construction will damage the ground, it means holes will be opened on the ground and then backfilled. strict requirements on construction technology can restore the original aesthetic requirements of the ground.
magnetic nail navigation
magnetic tape/bar navigation is considered to be a very mature technology. it is mainly used to measure the magnetic field signal on the path to obtain the position deviation of the vehicle relative to the target tracking path, so as to realize the control and navigation of the vehicle. magnetic stripe navigation has high measurement accuracy and good repeatability, and magnetic navigation is not easily affected by light changes, etc. during operation, magnetic sensing system has high reliability and robustness. once the magnetic stripe is laid, the maintenance cost is very low, the service life is long, and it is easy to add and change the path.
benefits
• low cost, mature and reliable technology.
• good secrecy and aesthetics of navigation, it means magnetic nails are embedded in the drilling landfill under the ground, and there is no other navigation aids above the whole factory floor.
• magnetic nails have strong anti-interference, abrasion resistance and resistance to acid, alkali, oil and other influences.
• suitable for outdoor, indoor, rainy, etc.
disadvantage
• the agv navigation ground shall meet the technical requirements, that is, there shall be no other magnetic materials in the agv navigation route; agv navigation lines should not contain degaussing or diamagnetic substances, which will affect the magnetism of agv magnetic nails.
• the agv magnetic nail navigation line is laid once, and the subsequent modification of the line must be carried out a second operation. compared with the laser navigation technology, magnetic nail navigation increases the cost and construction time for the later modification of the line.
• agv magnetic nail navigation will damage the ground when piling magnetic nails, that is, holes will be opened in the ground and then backfilled. strict requirements on construction technology can restore the original aesthetic requirements of the ground.
magnetic tape navigation
magnetic tape navigation is considered to be a very mature technology. it navigates the vehicle through continuously detecting the magnetic signal along the route and correcting the position deviation comparing to the expected route.
magnetic has good measurement accuracy and reliability that not easily be affected by light changes or environments. it normally has high reliability and robustness. once the magnetic tape has been installed, the maintenance cost is very low, and it is easy to add and change the path.
benefits
• low cost, mature and reliable technology.

disadvantage
• additional equipment is required to generate electromagnetic signals.
• additional sensors are required for site location.
• the agv electromagnetic navigation line is laid once, and the subsequent modification of the line must be performed for a second time. compared with the laser navigation technology, electromagnetic navigation increases the cost and construction time for the later modification of the line.
• agv magnetic nail navigation construction will damage the ground to some extent, that is, grooves are made on the ground, and then backfill. strict requirements on construction technology can restore the original aesthetic requirements of the ground.
• underdeveloped navigation.
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