Skip to main content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.


The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Navigation Performance Evaluation for Automated Guided Vehicles



Roger V. Bostelman, Tsai Hong Hong, Geraldine S. Cheok


Automatic guided vehicles (AGVs), an industrial form of mobile robot, typically navigate using a central computer commanding AGV movement on predefined paths. Although, how well they follow these paths is less defined in research articles and their performance is provided in non-standard manufacturer specifications. Furthermore, AGV technology is advancing towards vision guidance to map and localize their position from onboard the vehicle and performance of advanced navigation techniques is only beginning. This paper describes AGV experiments using ground truth measurement comparison for performance evaluation of AGV navigation. A generic test procedure and metrics are described to be recommended to ASTM F45, a recently formed committee on performance of AGVs, as a navigation test method for use by the AGV and mobile robot industries.
Proceedings Title
7th Annual IEEE International Conference on Technologies for Practical Robot Applications (TePRA)
Conference Dates
May 11-12, 2015
Conference Location
Boston, MA


automatic guided vehicle, mobile robot, performance measurement, ground truth, ASTM F45, test method
Created May 12, 2015, Updated February 19, 2017