Sensor based location tracking in crematorium

Abstract

We focused on indoor location tracking of an AGV (automatic guided vehicle) in crematorium. Our concern is that it should transport a dead body safely from the loading place to the designated furnace without stopping in transit. The entire path can be divided into four sub-paths: straight-line, deceleration, rotation, and path reentry. Since these sub-paths have different driving conditions, the method of location tracking to be applied for each sub-path is quite different. In the straight line sub-path, a method of finding the defined path by recognizing landmarks using infrared sensor and image sensor is applied. In the deceleration sub-path, BLE beacons are used to tell the AGV to slow down for rotation. In the 90-degree rotation sub-path, the speed control of the AGV is performed in three sections: deceleration, constant velocity, and acceleration. Finally, in the path reentry sub-path, image marker based relative distance fingerprinting can control the AGV to move into the furnace safely.