Location Sensing using QR codes via 2D camera for Automated Guided Vehicles

Automated Guided Vehicle (AGV) have gradually played a key role in many industrial systems such as factories and logistics. The key factor for AGV to be adopted is cost effective and accurate location sensing capabilities. In this paper, QR codes are used as artificial landmarks for AGVs to perform location sensing. This work differs from conventional floor-grid-based QR codes for AGVs as location tags, this work proposes to use the distance and angle between a camera attached on an AGV and the QR codes that are strategically placed around a facility to compute the exact location of the AGV. Experiment is conducted to test on the accuracy of the computed distance and angle. The proposed localization approach allows self-localization on multi-AGV systems and by using QR codes, the ambiguity of finding unique landmarks in a facility can be eliminated.