Lidar IMU fusion navigation system for AGVs in smart factories

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

PLOS ONE, 2025, vol. 20, issue 10, 1-26

Abstract: 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.

Date: 2025
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Persistent link: https://EconPapers.repec.org/RePEc:plo:pone00:0334652

DOI: 10.1371/journal.pone.0334652

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