Development of micromirror based 2D laser-scanning and barcoded-reflector technology for AGV navigation**

agv （Automated Guided Vehicles，自动导引车）以其承载重、精度高、效率高、成本低等特点，被广泛应用于工厂车间、仓库、配送中心等，以取代人工。目前流行的AGV导航技术包括：1)激光雷达（LIDAR，光探测与测距）；2)激光扫描和反射面定位，这两种技术具有路径灵活、安装方便的优点。然而，它们非常昂贵，例如，一个工业产品每单位1000~ 3000美元。这是工业合作伙伴SEW-EURODRIVE Canada所面临的问题，即寻找低成本、高性能（路径灵活、易于安装、无人工干扰）的AGV导航技术。**本应用提出了一种解决上述问题的方案，即开发一种基于微镜的二维激光扫描和条形码反射器技术，用于AGV导航，成本低（100~ 200美元，而不是1000~ 3000美元），性能高（路径灵活，易于安装，无人工干扰）。待开发的新技术用途：1)微镜取代传统的电机扫描仪，显著降低成本；2)二维扫描取代一维扫描；3)条形码反射器取代空白反射器，消除手动初始化AGV位置的需要。**建议的方法严重依赖于微镜技术。何思远博士在瑞尔森从事微镜研究已近10年，并成功研制了许多微镜。他的实验室配备了先进的微镜设计、仿真、表征和控制软硬件。SEW-EURODRIVE将agv与公司内部制造的所有组件组装在一起，除了导航系统。SEW-EURODRIVE加拿大公司将积极参与并帮助开发新的AGV导航技术。********

AGVs (Automated Guided Vehicles) are widely used in factory workshops, warehouses, distribution centers to replace humans due to their capability of carrying heavy load, high accuracy, high efficiency and low cost. Current popular AGV's navigation technology includes 1) LIDAR (Light Detection and Ranging); and 2) Laser-scanning and reflector localization due to these two technologies' advantages of flexible path and easy installation. However they are extremely expensive, e.g., $1000~$3000/unit for an industrial product. This is the problem faced by the industrial partner, SEW-EURODRIVE Canada, i.e., looking for low cost and high performance (flexible path, easy to install, no manual interference) AGV navigation technology. ** This application proposes a solution to address the above problem, i.e., develop a micromirror based 2D laser-scanning and barcoded-reflector technology for AGV navigation, which is of low cost ($100~$200, versus $1000~$3000) and high performance (flexible path, easy to install, no manual interference). The new technology to be developed uses: 1) Micromirror to replace conventional motor scanner to significantly lower the cost; 2) 2D scanning to replace the 1D scanning; and 3) Barcoded-reflector to replace blank reflector to eliminate the need for manual initialization of AGV's location.**The proposed approach heavily relies on the micromirror technology. The PI (Dr. Siyuan He) has been working on micromirrors for >10 years at Ryerson with many successfully developed micromirrors. His lab is equipped with the advanced micromirror design, simulation, characterization and control software and hardware. SEW-EURODRIVE assembles AGVs with all components made within the company except for the navigation system. SEW-EURODRIVE Canada will actively participate in and help with the project to develop the new AGV navigation technology.********