Pallet detection and docking strategy for autonomous pallet truck AGV operation

Efthimios Tsiogas, Ioannis Kleitsiotis, Ioannis Kostavelis, Andreas Kargakos, Dimitris Giakoumis, Marc Bosch-Jorge, Raquel Julia Ros, R. L. Tarazon, Spyridon Likothanassis, Dimitrios Tzovaras

Producció científica: Capítol de llibreContribució a congrés/conferènciaAvaluat per experts

6 Cites (Scopus)

Resum

Automated guided vehicles operation in human populated factory environments is a challenging task, especially when there is a demand to operate without following fixed paths defined by guide wires, magnetic tape, magnets, or transponders embedded in the floor. The paper at hand introduces a vision-based method enabling safe and autonomous operation of pallet moving vehicles that accommodate pallet detection, pose estimation, docking control and pallet pick up in such industrial environments. A dedicated perception topology relying on monocular vision and laser-based measurements has been applied and installed on-board a novel robotic pallet truck. Pallet detection and pose estimation are performed in two steps. Firstly, a deep neural network is used for the fast isolation of pallets' regions of interest and, secondly, model-based geometrical pattern matching on point cloud data is applied to extract the pallet pose. Robot alignment with candidate pallet is performed with a dedicated visual servoing controller. The developed method has been extensively evaluated both in simulated and real industrial environments with the pallet truck and proved to have real-time performance achieving increased accuracy in navigation, pallet detection and pick-up.

Idioma originalAnglès
Títol de la publicacióIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
EditorInstitute of Electrical and Electronics Engineers Inc.
Pàgines3444-3451
Nombre de pàgines8
ISBN (electrònic)9781665417143
DOIs
Estat de la publicacióPublicada - 2021
Publicat externament
Esdeveniment2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 - Prague, Czech Republic
Durada: 27 de set. 20211 d’oct. 2021

Sèrie de publicacions

NomIEEE International Conference on Intelligent Robots and Systems
ISSN (imprès)2153-0858
ISSN (electrònic)2153-0866

Conferència

Conferència2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
País/TerritoriCzech Republic
CiutatPrague
Període27/09/211/10/21

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