Vision-Guided Autonomous Forklift
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
Original language | English |
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Title of host publication | Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD) |
Editors | Aleksandar Rodić, Theodor Borangiu |
Publisher | Springer International Publishing |
Pages | 338-346 |
Number of pages | 8 |
ISBN (Electronic) | 978-3-319-49058-8 |
ISBN (Print) | 978-3-319-49057-1 |
DOIs | |
Publication status | Published - 29 Nov 2016 |
Publication type | A4 Article in a conference publication |
Event | IFTOM/IEEE/EUROBOTICS RAAD: International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) - Institute Mihailo Pupin, Belgrade, Serbia Duration: 30 Jun 2016 → 2 Jul 2016 Conference number: 25th http://raad2016.org/ |
Publication series
Name | Advances in Intelligent Systems and Computing |
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Publisher | Springer |
Volume | 540 |
ISSN (Electronic) | 2194-5357 |
Conference
Conference | IFTOM/IEEE/EUROBOTICS RAAD |
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Abbreviated title | RAAD |
Country | Serbia |
City | Belgrade |
Period | 30/06/16 → 2/07/16 |
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