Vision-Guided Autonomous Forklift

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    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 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 conference proceedings
    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
    Country/TerritorySerbia
    CityBelgrade
    Period30/06/162/07/16
    Internet address

    Keywords

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

    Publication forum classification

    • Publication forum level 1

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