## 4 Conclusions  
In experimental studies verifying the effectiveness of the developed methodology for automatic course correction, several dozen test drives of the AGV were carried out. The rides were carried out along the assumed route inside the building, and took place in conditions and surroundings which allowed for uninterrupted operation of the laser rangefinders. The conducted test drives, in addition to confirming the effectiveness of the developed methodology, also allowed us to determine the minimum length of the route section on which the vehicle should be driven based on the indications of the laser rangefinder at a fixed distance from the reference surface. It was assumed that the length of this section should be 4 m.  
Laser rangefinders are devices that, despite being easy to use, are characterized by advanced measuring functions which make them efficient and accurate measuring devices. Their advantages include, first of all, their accurate range measurement ability, high sampling frequency and high angular resolution. However, they also have some limitations that have been taken into account when designing a measuring system equipped  
Figure 10: Course of the angles of deviation of the vehicle axis from the given direction of movement. Figure 9: The course of the locations of the selected points W and O of the vehicle on a given route section. with a laser rangefinder and developing an automatic course correction methodology. One of the limitations which we considered is that most laser rangefinders measure a specific measurement plane, so obstacles or other elements of the environment located above or below the plane are not detectable. The second limitation, which has also been taken into account, is that laser rangefinders are unable to detect optically transparent materials. In addition, laser rangefinders are sensitive to dusty environments. The presence of dust can interrupt the laser beam, which could falsify the measurement. The accuracy of the measurement can also be affected by the vibration of the object. We also paid attention to the distance and position of the sensor in relation to the measuring surface. This cannot be too small or too large, and the sensor cannot be set at too sharp an angle [44; 45]. In the experimental tests carried out to verify the developed methodology for course correction, the vehicle was moving inside a building in which no dust was observed; therefore, there was no fear of interrupting the laser beam during the measurements. The use of the laser rangefinder was limited to measuring the planar distance of the vehicle from the reference surface. The elements of the working space in which the vehicle was moving, most often the walls of the rooms, were taken as reference surfaces. In the absence of an appropriate reference area on a given section of the route necessary to update the course, it is possible to create this using very inexpensive means. It should also be remembered that such surfaces are not transparent. The distance of the laser rangefinder mounted on the AGV from the walls was within the measuring range of the sensor. During the measurements, the sensor was also not set at too sharp an angle, which would make it impossible to perform a correct measurement. The impact of the vehicle's vibrations on the measurement of the laser rangefinder mounted on it was also eliminated due to, among other factors, the smooth surface on which the vehicle was moving. Thus, in the proposed automatic course correction methodology, the aforementioned limitations of the rangefinders did not have a negative impact on its implementation. The proposed position correction algorithm allows for the elimination of the negative impact of odometry errors. When using odometry alone, the accuracy of determining the position is influenced by many sources of errors, which in turn lead to position errors, including the distance error directed along the assumed trajectory, the error perpendicular to the assumed trajectory and the orientation error.