Vision-Guided Autonomous Forklift

Mohammad M. Aref; Reza Ghabcheloo; Antti Kolu; Jouni Mattila

doi:10.1007/978-3-319-49058-8_37

Vision-Guided Autonomous Forklift

Mohammad M. Aref, Reza Ghabcheloo, Antti Kolu, Jouni Mattila

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

1 Citation (Scopus)

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.

Original language	English
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	https://doi.org/10.1007/978-3-319-49058-8_37
Publication status	Published - 29 Nov 2016
Publication type	A4 Article in conference proceedings
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
Publisher	Springer
Volume	540
ISSN (Electronic)	2194-5357

Conference

Conference	IFTOM/IEEE/EUROBOTICS RAAD
Abbreviated title	RAAD
Country/Territory	Serbia
City	Belgrade
Period	30/06/16 → 2/07/16
Internet address	http://raad2016.org/

Keywords

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

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10.1007/978-3-319-49058-8_37

Cite this

@inproceedings{6e1b9149e7f34b39864a30a4403c5be8,

title = "Vision-Guided Autonomous Forklift",

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",

author = "{M. Aref}, Mohammad and Reza Ghabcheloo and Antti Kolu and Jouni Mattila",

note = "JUFOID=79020 This paper is the winner of the best paper award for robotic applications.; IFTOM/IEEE/EUROBOTICS RAAD : International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), RAAD ; Conference date: 30-06-2016 Through 02-07-2016",

year = "2016",

month = nov,

day = "29",

doi = "10.1007/978-3-319-49058-8_37",

language = "English",

isbn = "978-3-319-49057-1",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer International Publishing",

pages = "338--346",

editor = "Aleksandar Rodi{\'c} and Theodor Borangiu",

booktitle = "Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD)",

url = "http://raad2016.org/",

}

M. Aref, M , Ghabcheloo, R , Kolu, A & Mattila, J 2016, Vision-Guided Autonomous Forklift. in A Rodić & T Borangiu (eds), Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD). Advances in Intelligent Systems and Computing, vol. 540, Springer International Publishing, pp. 338-346, IFTOM/IEEE/EUROBOTICS RAAD, Belgrade, Serbia, 30/06/16. https://doi.org/10.1007/978-3-319-49058-8_37

Vision-Guided Autonomous Forklift. / M. Aref, Mohammad ; Ghabcheloo, Reza ; Kolu, Antti et al.

Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD). ed. / Aleksandar Rodić; Theodor Borangiu. Springer International Publishing, 2016. p. 338-346 (Advances in Intelligent Systems and Computing; Vol. 540).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Vision-Guided Autonomous Forklift

AU - M. Aref, Mohammad

AU - Ghabcheloo, Reza

AU - Kolu, Antti

AU - Mattila, Jouni

N1 - Conference code: 25th

PY - 2016/11/29

Y1 - 2016/11/29

N2 - 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.

AB - 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.

KW - mobile manipulation

KW - visual servoing

KW - state machines

KW - forklift

KW - Autonomous mobile machine

KW - automated vehicle

UR - https://goo.gl/VtJx9d

U2 - 10.1007/978-3-319-49058-8_37

DO - 10.1007/978-3-319-49058-8_37

M3 - Conference contribution

SN - 978-3-319-49057-1

T3 - Advances in Intelligent Systems and Computing

SP - 338

EP - 346

BT - Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

A2 - Rodić, Aleksandar

A2 - Borangiu, Theodor

PB - Springer International Publishing

T2 - IFTOM/IEEE/EUROBOTICS RAAD

Y2 - 30 June 2016 through 2 July 2016

ER -

Vision-Guided Autonomous Forklift

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