DocumentCode
2240620
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
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
2147
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241911
Filename
1241911
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