4 accepted papers
A fundamental task of automated guided vehicles is transporting heavy payloads. These payloads are often given in the form of large containers that are mounted onto a cart with four caster wheels. In this paper we investigate a combined detection and control architecture that allows an AGV to reliab…
A new navigation system for outdoor person following at higher speeds (maximum speed ≈2.5 m/s) is proposed. A combination of global and local path planning, and path following control, allows a robot to follow a jogger in various outdoor scenarios, including highly dynamical environments with pedest…
A new nonlinear control law for path following with skid-steered mobile robots is proposed. A terrain dependent kinematic model is utilized in path coordinates, and the kinematic parameters are experimentally evaluated. A kinematic path following control is developed using the Lyapunov approach. A s…
Automated guided vehicles (AGVs) are useful for a variety of transportation tasks. They usually detect obstacles on the path they are following using 2D laser scanners. If an AGV should be deployed in a shared space with people, 3D information has to be considered as well to detect unforeseen obstac…