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Navigation system can be divided into self-localization, path planning and obstacle avoidance for indoor service execution. The application fields have security patrol or package delivery. Furthermore, recharging is necessary before the battery power has exhausted. The paper develops the automated guided vehicle that is designed and built with a 4WD mecanum wheel platform. Due to the laser ranger\u2019s high precision, we applied the laser range finder to achieve the environment map construction, so the self-localization via particles filter (PF) and the path planning algorithms can be utilized with the map. The practical motion and safety avoidance strategies are also proposed for robot motion control. Finally, the sensory fusion methods are also integrated with the laser ranger and RGB-D camera for automated guided vehicle while performing the docking process. The experimental results show the successful demonstrations of autonomous patrol and docking for self-recharging.<\/jats:p>","DOI":"10.3233\/jifs-169897","type":"journal-article","created":{"date-parts":[[2018,11,13]],"date-time":"2018-11-13T15:52:48Z","timestamp":1542124368000},"page":"1245-1257","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Development of a SLAM based automated guided vehicle"],"prefix":"10.1177","volume":"36","author":[{"given":"Jian-Fu","family":"Weng","sequence":"first","affiliation":[{"name":"Graduate School Engineering Science and Technology, National Yunlin University of Science &amp; Technology, Yunlin, Taiwan, ROC"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kuo-Lan","family":"Su","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, National Yunlin University of Science &amp; Technology, Douliou, Yunlin, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2018,11,12]]},"reference":[{"key":"e_1_3_1_2_2","first-page":"363","article-title":"The SLAM problem: A survey","author":"Aulinas J.","year":"2008","unstructured":"J.Aulinas, et al., The SLAM problem: A survey, International Conference of the Catalan Association of Artificial Intelligence, 2008, pp. 363\u2013371.","journal-title":"International Conference of the Catalan Association of Artificial Intelligence"},{"key":"e_1_3_1_3_2","first-page":"477","article-title":"A review of recent developments in Simultaneous Localization and Mapping","author":"Dissanayake G.","year":"2011","unstructured":"G.Dissanayake, et al., A review of recent developments in Simultaneous Localization and Mapping, IEEE International Conference on Industrial and Information Systems, 2011, pp. 477\u2013482.","journal-title":"IEEE International Conference on Industrial and Information Systems"},{"key":"e_1_3_1_4_2","volume-title":"A review of robotic SLAM","author":"Spero D.J.","year":"2007","unstructured":"D.J.Spero and R.A.Jarvis, A review of robotic SLAM, Monash University, Technical Report, MECSE-4-2007, 2007."},{"issue":"7","key":"e_1_3_1_5_2","article-title":"Simultaneous localization and mapping: Issues and approaches","volume":"4","author":"Mahrami M.","year":"2013","unstructured":"M.Mahrami, M.N.Islam and R.Karimi, Simultaneous localization and mapping: Issues and approaches, International Journal of Computer Science and Telecommunications 4(7) (2013).","journal-title":"International Journal of Computer Science and Telecommunications"},{"key":"e_1_3_1_6_2","unstructured":"SICK Sensor Intelligence. 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