Abstract
This paper tackles the problem of integrating Visual Servoing Control (VSC) into the functionalities of an Articulated-Frame-Steering (AFS) hydraulic forklift. The controller is capable of breaking down high-level messages into piecewise commands for the different software modules of the vehicle. It also preserves seamless cooperation of the modules for a successful pallet-picking mission. The proposed architecture has been verified on a real machine. Videos of the test runs are available on YouTube.
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Acknowledgment
This work is supported by the Academy of Finland under the project “Integrated Multimodal Sensing of 3D Environment for Intelligent Manipulators,” grant no. 286260.
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M. Aref, M., Ghabcheloo, R., Kolu, A., Mattila, J. (2017). Vision-Guided Autonomous Forklift. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_37
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DOI: https://doi.org/10.1007/978-3-319-49058-8_37
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