Method and system for navigating autonomous ground vehicle using radio signal and vision sensor

An Autonomous Ground Vehicle (AGV) assistance system for navigating an AGV using radio signal and vision sensor, the AGV assistance system comprising:

• a processor;
• and
• a memory communicatively coupled to the processor, wherein the memory stores processor-executable instructions, which on execution, cause the processor to:
• generate a trajectory plan for a short distance from a path plan, wherein the path plan is determined using destination location and Autonomous Ground Vehicle (AVG) location;
• identify an approximate AGV location using a radio signal-based trilateration mechanism;
• estimate AGV location error with respect to a road lane centre by determining distance from the approximate AGV location to road boundary and road lane marking line and orientation difference between AGV orientation and road orientation;
• and
• correct the trajectory plan by using the estimated AGV position error for navigating an AGV.

A non-transitory computer readable medium including instructions stored thereon that when processed by at least one processor cause an Autonomous Ground Vehicle (AGV) assistance system to perform operations comprising:

• generating a trajectory plan for a short distance from a path plan, wherein the path plan is determined using destination location and Autonomous Ground Vehicle (AGV) location;
• identifying an approximate AGV location using a radio signal-based trilateration mechanism;
• estimating AGV location error with respect to a road lane centre by determining distance from the approximate AGV location to road boundary and road lane marking line and orientation difference between AGV orientation and road orientation;
• and
• correcting the trajectory plan by using the estimated AGV location error for navigating an AGV.