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This paper focuses on describing an implementation for an Ackermann-type vision-based Automated Guided Vehicle (AGV) used for the transportation of materials between and within industrial facilities. This implementation was done using a ZED Stereo Camera, Robot Operating System (ROS), ORB-SLAM2, and Unitronics PLCs and MCUs. The solution proposes a self-localization within a map previously created driving the vehicle around the desired route, the following of such route, and stopping along whenever the operator designated that the vehicle should stop. The vehicle can follow and mimic the route in environments with controlled lighting conditions |
