A landmark-based method of estimating the position of an AGV (autonomous ground vehicle) or conventional vehicle, which has an onboard database of landmarks and their locations coordinates. During travel, the AGV looks for and identifies landmarks. It navigates according to position estimations that are based on measured yaw rate and speed. When a landmark is encountered and recognized, its true location coordinates are looked up from the database. These true coordinates are then used to enhance position estimation accuracy between landmarks.
Bapiraju Surampudi; Joe Steiber