By Topic

Navigation and docking manoeuvres of mobile robots in industrial environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
H. Roth ; FH Ravensburg-Weingarten, Germany ; K. Schilling

The actual developed generation of automated guided vehicles (AGVs), used for the flow of materials in industrial production lines, offer increased flexibility by storing the reference path in the vehicle's on-board computer. This requires an effective path planning strategy, in particular with respect to navigation, collision avoidance and docking to target stations. Sensors to support these manoeuvres need to be robust, to survive in the rough industrial environment, cheap, to be an alternative to the existing wire-guided vehicles, and accurate, to meet the performance requirements. To cope with all these topics different low-cost sensors have to be used and their information has to be fused by intelligent algorithms. This paper addresses the combination of measurement signals of simple CCD-cameras, odometry sensors and ultrasonic sensors for a low cost approach to free navigation including target docking. The performance of this concept has been proofed by factory trial tests in the frame of the ESPRIT-project RETRARO in the production environment of the company Schoeller-Bregenz, active in the area of wool processing and spinning

Published in:

Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE  (Volume:4 )

Date of Conference:

31 Aug-4 Sep 1998