Journal Article

Lidar IMU fusion navigation system for AGVs in smart factories

Wu, XianZhou, Jian, Xianke, Chen, Zeyu, Touti, Ezzeddine, Chen, Senyang, Li, Haichao, Liu, Songming, Wang, Liang

2025

Overview

Automated Guided Vehicles (AGVs) are vital to smart factories, enabling autonomous and efficient material transport. However, precise navigation is challenging because LiDAR provides high-dimensional, dynamic spatial data, while Inertial Measurement Unit (IMU) signals are often intermittent, leading to inconsistencies and navigation drift. This work proposes the Screened Inertial Data Fusion Method (SIDFM), a novel framework that systematically screens LiDAR data using a minimal differential function and fuses it with IMU intervals through linear regression learning. The SIDFM approach ensures that only consistent LiDAR points are integrated with IMU data, reducing mismatches and improving motion estimation. SIDFM was validated using a benchmark AGV dataset and compared against baseline LiDAR-IMU fusion methods under varying acceleration conditions. Results show that SIDFM reduces navigation errors by 12.09% at low acceleration and 11.43% at high acceleration while also significantly decreasing positioning errors. These improvements enhance the stability, precision, and safety of AGVs in dynamic manufacturing environments. The findings establish SIDFM as an effective and practical solution for robust AGV navigation, with potential applications in smart factories, warehouses, and autonomous mobility systems that demand both efficiency and reliability.

• Publisher: Public Library of Science,PLOS,Public Library of Science (PLoS)
• Subject: Accuracy / Automated guided vehicles / Automatic guided vehicles / Automation / Computer and Information Sciences / Data integration / Data processing / Decision making / Efficiency / Electronics in navigation / Engineering and Technology / Error reduction / Factories / Geospatial data / High acceleration / Inertial platforms / Innovations / Lidar / Liu E / Localization / Motion simulation / Navigation systems / Optical radar / Optimization algorithms / Physical Sciences / Regression analysis / Remote sensing / Research and Analysis Methods / Sensors / Spatial data / Velocity