Experimental Evaluation of Navigation Slam and Line Follower on Automated Guided Vehicles to Improve Industrial Operational Flexibility

Rio Handoko (Universitas Global Jakarta)
Ariep Jaenul (Universitas Global Jakarta)
Brainvendra Widi Dionova (Universitas Global Jakarta)

Formosa Journal of Computer and Information Science
Vol. 5 No. 2 (2026): August 2026

This study experimentally evaluated the performance of Simultaneous Localization and Mapping (SLAM) and line-follower navigation and examined the contribution of SLAM to AGV operational flexibility. Both navigation systems were tested on the same AGV platform under four scenarios: speed variation, obstacles, payload variation, and route reconfiguration. The evaluated parameters included endpoint position error, travel time, task completion, and route reconfiguration time. User perceptions were also evaluated involving 16 personnel with experience in AGV operation or observation. The results showed that the line follower was faster and more accurate under static conditions. At speeds of 0.188 and 0.377 m/s, its mean position errors were 1.06 and 2.25 cm, respectively, compared with 8.42 and 8.49 cm for SLAM.