ANT Natural Navigation

What is it and What are the Benefits?

All the automated vehicles featured on ANTdriven.com are driven by Autonomous Navigation Technology (ANT). But what is ANT? And what advantages does this type of natural navigation offer? This guide explains it all.

What is ANT navigation?

ANT Navigation

Autonomous Navigation Technology (ANT) by BlueBotics is used to drive automated vehicles. Specifically, ANT is a type of natural navigation called natural ‘feature’ navigation (explained in more detail below).

ANT natural navigation drives thousands of automated vehicles around the world. These range from small, cleanroom-friendly robots that transport payloads of 100 kilos or less, to large fleets of underride ‘mouse’ AGVs used in automotive production, right up to heavy transport AGVs that move 100 tons of material between buildings. These vehicles span numerous different brands.

How does ANT natural navigation work?

Any navigation technology must address three key factors in order for a vehicle to navigate autonomously:

Localization: knowing precisely where the vehicle is
Planning: knowing where the vehicle should go
Control: knowing how it should get there

ANT deals with these requirements in the following ways:

1. Localization

ANT natural feature navigation works by taking measurements from a vehicle’s laser scanners (usually its existing safety scanners) and comparing or ‘matching’ these to permanent map references (features), such as walls. This approach is used alongside odometry to localize the vehicle in the map, calculating its exact position (to ±1 cm/±1°). All impermanent or ‘dynamic’ objects (such as pallets, boxes, people and so on) are excluded from ANT’s calculations. If part of a site does not include enough permanent features, small reflective stickers can also be added to provide additional references.

2. Planning

ANT driven vehicles navigate by following virtual paths around a site. Two navigation modes are available: path following (vehicle stops and waits in case of a blockage) or obstacle avoidance (vehicle move dynamically around the obstacle). These virtual paths and their associated ‘actions’ (such as moving a lift truck’s forks) are pre-programmed by a vehicle’s integrator using ANT lab software.

path following obstacle avoidance

3. Control

The ANT control system is efficient and easy to configure. Only the vehicle’s maximum speed needs to be defined by the integrator. Its speed during turns and so on is then automatically calculated in order to optimize the vehicle’s arrival time, while still guaranteeing that its payload is handled carefully.

Those vehicles that are fully controlled by ANT are, by default, compatible with multiple other types — and even brand — of ANT driven vehicle. To explore these, visit this site’s Vehicle Finder and activate its ‘Multi-Brand Fleet’ filter).

Is fleet operation possible with ANT?

Multiple types and even brands of ANT driven AGVs, automated forklifts and autonomous mobile robots can be used together in one connected fleet, all managed by ANT server fleet management software.

Example of an ANT driven fleet in operation:

Note: In this website’s Vehicle Finder, interoperable vehicles can be quickly identified by choosing the ‘Multi-Brand Fleet’ filter

How does ANT compare to other navigation technologies?

There are numerous kinds of AGV navigation technology available today. Some methods have been around several decades, such as following physical lines on the floor, while others are more modern, like natural navigation and camera-based vision guidance.

Since the type of navigation inside a vehicle has a major impact on its performance, reliability and flexibility, it is definitely worth learning about the pros and cons of different AGV navigation systems. These are explained below.

Line following

Vehicles are equipped with a specific sensor to follow a physical line on the ground (e.g. magnetic tape, inductive wire).

Pros:

Reliable
Accurate
Not affected by changes in the environment

Cons:

Time-consuming and expensive to install/modify
Fleet management difficult

Tag following

Vehicles are equipped with a specific sensor (e.g. a camera or code reader), which follows a route defined by tags.

Pros:

Reliable
Accurate
Not affected by changes in the environment

Cons:

Time-consuming and expensive to install/modify
Fleet management difficult

Laser triangulation

The vehicle’s position is triangulated using laser beams that are reflected back from reflectors. The paths followed are virtual.

Pros:

Reliable
Accurate
Modification simple (unless more reflectors needed)
Efficient fleet management

Cons:

Installation of reflectors time-consuming/expensive

Vision guidance

Uses cameras to recognize features in the environment, with which the vehicle's position is calculated. The paths followed are virtual.

Pros:

Quick & simple to install
No infrastructure changes

Cons:

Accuracy affected by changes in lighting conditions & environment

Natural navigation (scan matching)

Uses points measured with a vehicle's laser scanner(s) to identify, and then match, structures in the environment. The paths followed are virtual. Also called: SLAM navigation.

Pros:

Quick & simple to install/modify
Minimal infrastructure changes (possibly reflective stickers)

Cons:

Sensitive to changes in environment (affecting accuracy/robustness)
Additional laser scanners add cost
Software tools often basic

Natural navigation (feature matching)

ANT natural feature navigation uses features measured with a laser scanner to identify and then match structures in the environment. The paths followed are virtual.

Pros:

Quick & simple to install/modify
Minimal infrastructure changes (possibly reflective stickers)
Accurate & robust to environmental change
Advanced fleet management (incl. multi-brand)

Benefits of ANT navigation

1. Robustness

ANT driven vehicles do what they are programmed to do each and every time, with repeatable accuracy of ±1 cm/±1˚ or better. Since ANT navigation only requires a vehicle’s laser scanners to recognize a few permanent features in the environment (less than 5%), the performance of ANT driven vehicles is not affected by dynamic changes in the environment.

2. Flexibility

Vehicles driven by ANT navigation are quick and easy to install. Minimal infrastructure changes are required (only a few reflective stickers if natural features are lacking) – there is no laying of tape, tags or codes, or installing of laser triangulation targets. When your AGV operation needs to evolve, vehicle routes and actions are quick to modify in ANT software.

3. Scalable

ANT enables you to build the ideal fleet of automated guided vehicles for your business. Numerous types – and even different brands – of vehicles can be connected seamlessly, all managed by ANT server fleet management software. Thanks to ANT server’s API, AGV operations can be managed directly from your business’s existing management software (e.g., WMS, MES or ERP). This API also allows vehicles to communicate with existing on-site equipment such as palletizers, automatic doors and elevators.

Note: In this website’s Vehicle Finder, interoperable vehicle models can be quickly identified by choosing the ‘Multi-Brand Fleet’ filter.

What functionalities do ANT driven vehicles offer?

Vehicles driven by ANT natural navigation offer a range of category-leading features, explained below. Advanced fleet management functionality, however, is available only with ‘ANT fleet ready’ vehicles (in other words, those that have a specific fleet-ready version of ANT inside and therefore work with ANT server software).

All ANT driven vehicles

High accuracy

ANT driven vehicles can achieve a positioning accuracy of approximately ±1 cm/±1°, for example when picking, dropping, and docking to recharge.

High repeatability

Vehicles driven by ANT navigation offer the very highest levels of repeatability. Thanks to ANT’s ‘feature matching’ technology, even if a site is full of dynamic changes – pallets being moved, machines and people moving around etc. – a vehicle’s performance will not be affected. That is because ANT only needs a vehicle’s scanners to ‘see’ less than 5% of the environment to function reliably.

Any steering type

The ANT driven vehicles available today span a wide range of steering configurations – from tricycle-style underride AGVs to advanced omnidirectional vehicles that are capable of parking sideways (useful in tight spots such as conveyor-to-conveyor transfers).

Choice of navigation modes

What happens when a vehicle encounters an obstacle? With ANT, a vehicle can be configured to behave in one of two ways: path following or obstacle avoidance.

In path following mode, the vehicle stops and waits until a member of staff removes the blockage. This approach suits most industrial applications. In obstacle avoidance mode the vehicle moves dynamically around the obstacle, returning to its assigned path as soon as it can.

Minimal WiFi requirements

The Embedded Mission Control functionality within ANT driven vehicles minimizes their reliance on WiFi by only requiring mission data to be transferred to a vehicle once. The vehicle can then run independently. Commands do not need to be sent continuously from server to vehicle. This approach means ANT driven vehicles have the very lightest network requirements. Even if running a full ANT driven fleet, WiFi is required mainly for managing traffic at intersections – mission data remains embedded onboard each vehicle.

‘ANT fleet ready’ vehicles

‘ANT fleet ready’ vehicles run a particular version of ANT navigation, which makes them fully compatible with ANT server software. This compatibility opens up a world of advanced fleet management benefits.

Fleet management

ANT server selects and deploys the right vehicle for each mission, seamlessly coordinates vehicles at intersections, and provides you with a complete overview of your fleet in real-time.

Multi-brand compatibility

All vehicles that can be managed via ANT server are interoperable. No matter what the vehicle type, or even brand, these can be used in a single connected fleet. (Browse 'Multi-Brand Fleet' vehicles .)

Intelligent mission scheduling

This function determines which vehicle to send on each mission, based on parameters you can configure with your integrator.

Traffic management

This seamlessly coordinates the movement of different vehicles at locations such as intersections, doors, elevators and more.

Battery charge management

This determines exactly where and when a vehicle must go to charge its battery.

API connection to WMS/MES/ERP

ANT server software features an API. This enables vehicles and their missions to all be managed via your organization’s existing software infrastructure– whatever works best for your business.

Equipment interfacing

ANT server’s API also enables fleet vehicles to interface with equipment such as automatic doors, elevators, palletizers, production machines and more.

System monitoring

Visualize and monitor your AGV operation with ANT server’s handy web interface.

Mission simulation

With the help of your vehicle integrator, you can ensure your operation will run smoothly by simulating it beforehand — from individual missions to full-scale fleet operations.

Example ANT driven fleet installation

ANT server warehouse
1. ANT server fleet management software (used by AGV operator)
2. ‘ANT fleet ready’ vehicles
3. Communications
4. Interfaces
5. Remote devices
6. Vehicle actions
7. Traffic
8. Vehicle management
9. Mission scheduler/dispatcher
10. ANT server simulation
11. ANT lab configuration software (used by integrator)

Frequently asked questions (FAQ)

Below are the questions asked most frequently about ANT natural navigation. If you have more questions, please contact us.

Is ANT reliable?

Is natural feature navigation reliable? The short answer is yes. ANT is a highly reliable platform that is proven in industrial applications around the world.

As an example, the first ANT driven vehicle to go into commercial operation was an EMS Paquito AGV, installed at Dal Colle (Barilla Group) in Italy in 2009. This installation is still in operation today. Since then, over 5,000 more vehicles have been deployed, spanning numerous brands and types.

What types of vehicles run on ANT?

Over 130 different automated vehicle models run on ANT today. To explore these, visit this site’s Vehicle Finder. Since ANT offers virtual path following and obstacle avoidance modes, it suits not only automated guided vehicles but also automated forklifts and autonomous mobile robots.

AGV AMR Automated Forklifts

How long does it take to install ANT driven vehicles?

The installation (also called commissioning) of vehicles driven by ANT natural navigation is quick and simple.

Of course, careful planning is essential, such as deciding which tasks to automate, identifying pick and drop positions, defining routes, and setting traffic preferences. Your vehicle integrator can then use ANT software to fully simulate your operation. This will help you identify and solve issues upfront.

Once planning and simulation have been completed, the on-site installation of vehicles (mapping, programming routes and actions, and testing) is typically completed in a week or less. Larger installations with 50 or more pick and drop points may however take longer.

Does ANT natural navigation offer obstacle avoidance?

Yes. Vehicles driven by ANT natural navigation can be programmed to use virtual path following (stopping and waiting in case of an obstacle) or obstacle avoidance (whereby vehicles navigate dynamically around obstacles).

But do obstacle avoidance AGVs offer greater efficiency? The answer depends on the application. Generally speaking, path following suits industrial applications, whereas obstacle avoidance better suits mobile robot use cases.

Can ANT driven vehicles work outdoors?

Yes. With ANT everywhere, AGVs work with GNSS (with real-time kinematic (RTK) positioning) and the result is a seamless indoor-outdoor navigation system. It makes outdoor AGV and AMR operations just as robust and precise as those indoors.

A typical application is moving very heavy loads, such as tires or steel coils, between buildings or moving luggage on airport terminals.

Plan now for an automated future

Transitioning to automated guided vehicles can be a practical means of future-proofing your business, enabling you to boost efficiency, increase capacity, and at the same time improve safety on-site.

So, with the automated guided vehicle market set to boom in the coming years, now is the perfect time to consider your AGV strategy.