Title :
i-Fork: a flexible AGV system using topological and grid maps
Author :
Barberá, Humberto Martinez ; Quinonero, J.P.C. ; Izquierdo, Miguel A Zamora ; Skarmeta, A.G.
Author_Institution :
Dept. of Commun. & Inf. Eng., Murcia Univ., Spain
Abstract :
In this paper we describe the navigation and planning of the i-Fork system, a flexible AGV intended to operate in partially structured warehouses where frequent floor plant layout modifications occur. This is achieved by using a combination of topological and grid maps in such a way that the operator work in layout modification procedures is greatly reduced. The system is currently working in an agricultural company with great success.
Keywords :
agriculture; automatic guided vehicles; mobile robots; navigation; path planning; warehouse automation; agricultural company; automatic guided vehicle; flexible AGV system; floor plant layouts; grid maps; i-Fork system; navigation; path planning; topological maps; warehouses; Automatic control; Costs; Electrical equipment industry; Frequency; Manufacturing automation; Microcomputers; Microelectronics; Navigation; Vehicles; Wire;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241911
