Automated guided vehicle (AGV), which was initially designed for indoor operations in industry, has been increasingly applied in outdoor heavy-duty logistics tasks. In typical navigation tasks, such as the autonomous tracking of a designated object or a person, relative angle and relative distance between AGV and the target is required. To obtain the necessary information, various on-board sensors are extensively integrated. In this paper, the reliability of measuring the relative angle with the Angle-of-Arrival (AoA) method with two different Internet of Things (IoT) sensor sets from Texas Instrument (TI) and u-blox, according to Bluetooth 5.1 was investigated. The performance of IoT sensors was validated with angle accuracy parameters and received signal strength indicator (RSSI). The better IoT sensor was then integrated into the AGV navigation system, and the information gathered from IoT sensor enabled the AGV to turn toward the direction of the target. The process of AGV turning to the targeted direction based on IoT sensor information was respectively tested in the simulation and actual environment and evaluated by the disparity between the real relative angle and the rotation angle of the AGV. The results showed that this disparity was within ±5° in both simulated and actual environments, and methods for higher accuracy were proposed. In this way, the reliability and performance of Angle of Arrival (AoA) sensors in measuring the relative angle, which remains unexplored by other researchers, was systematically assessed contributing to extending the usability of AoA sensors in complex, real-world applications.

中文翻译：

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在 AGV 导航中将 IoT 传感器与基于到达角的角度测量集成：可靠性研究


自动导引车 （AGV） 最初是为工业室内操作而设计的，现已越来越多地应用于室外重型物流任务。在典型的导航任务中，例如自主跟踪指定物体或人员，需要 AGV 与目标之间的相对角度和相对距离。为了获得必要的信息，广泛集成了各种板载传感器。在本文中，根据蓝牙 5.1，研究了使用德州仪器 （TI） 和 u-blox 的两种不同的物联网 （IoT） 传感器组使用到达角 （AoA） 方法测量相对角度的可靠性。物联网传感器的性能通过角度精度参数和接收信号强度指标 （RSSI） 进行了验证。然后将更好的物联网传感器集成到 AGV 导航系统中，从物联网传感器收集的信息使 AGV 能够转向目标的方向。分别在仿真和实际环境中测试了基于物联网传感器信息的 AGV 转向目标方向的过程，并通过 AGV 真实相对角度与旋转角度的差异进行评估。结果表明，在模拟和实际环境中，这种差异都在 ±5° 以内，并提出了更高精度的方法。通过这种方式，系统地评估了其他研究人员尚未探索的到达角 （AoA） 传感器在测量相对角度方面的可靠性和性能，有助于扩展 AoA 传感器在复杂的实际应用中的可用性。