Strategies for contour-based self-localization in large-scale modern warehouses

Author

Reinke, Christoph ; Beinschob, Patric

Author_Institution

SICK AG, Hamburg, Germany

fYear

2013

fDate

5-7 Sept. 2013

Firstpage

223

Lastpage

227

Abstract

Latest Automated Guided Vehicles (AGVs) localize themselves by triangulation based on reflector landmarks detected by Laserscanners. The number of reflectors ranges from hundreds to thousands. Every reflector must be mounted and precisely located by skilled personnel. Additionally, the AGV cannot locate itself if no reflectors are in the field of view; furthermore, any change in the factory layout requires the position of the reflectors to be modified accordingly. One aim of the PAN-Robots project´ is a seamless transition between reflector- and contour-based localization as well as localization in unknown areas to guarantee optimal localization performance for safe and efficient AGV operation.

Keywords

automatic guided vehicles; industrial robots; mesh generation; mobile robots; optical elements; optical scanners; path planning; telerobotics; warehouse automation; AGV operation; PAN-Robots project; automated guided vehicles; contour-based self-localization; factory layout; large-scale modern warehouses; laserscanners; optimal localization performance; reflector landmarks; reflector-based localization; triangulation; Accuracy; Automation; Lasers; Production facilities; Robots; Robustness; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computer Communication and Processing (ICCP), 2013 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4799-1493-7

Type

conf

DOI

10.1109/ICCP.2013.6646112

Filename

6646112