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Vision-Guided Autonomous Forklift

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Details

Original languageEnglish
Title of host publicationProceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD)
EditorsAleksandar Rodić, Theodor Borangiu
PublisherSpringer International Publishing
Pages338-346
Number of pages8
ISBN (Electronic)978-3-319-49058-8
ISBN (Print)978-3-319-49057-1
DOIs
Publication statusPublished - 29 Nov 2016
Publication typeA4 Article in a conference publication
EventIFTOM/IEEE/EUROBOTICS RAAD: International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) - Institute Mihailo Pupin, Belgrade, Serbia
Duration: 30 Jun 20162 Jul 2016
Conference number: 25th
http://raad2016.org/

Publication series

NameAdvances in Intelligent Systems and Computing
PublisherSpringer
Volume540
ISSN (Electronic)2194-5357

Conference

ConferenceIFTOM/IEEE/EUROBOTICS RAAD
Abbreviated titleRAAD
CountrySerbia
CityBelgrade
Period30/06/162/07/16
Internet address

Abstract

This paper tackles the problem of integrating Visual Servoing Control (VSC) into the functionalities of an Articulated-Frame-Steering (AFS) hydraulic forklift. The controller is capable of breaking down high-level messages into piecewise commands for the different software modules of the vehicle. It also preserves seamless cooperation of the modules for a successful pallet-picking mission. The proposed architecture have been verified on a real machine. Videos of the test runs are available on YouTube.

Keywords

  • mobile manipulation, visual servoing, state machines, forklift, Autonomous mobile machine, automated vehicle

Publication forum classification

Field of science, Statistics Finland