ROBOLIFT: a vision guided autonomous fork-lift for pallet handling

The paper describes an integrated mobile robot which has been designed and realised on top of a conventional fork lift carrier, to perform autonomous missions as well as to allow a human operator to drive the vehicle in the conventional way. The most challenging goal of the project has been to provide the vehicle with the sensory capability and local intelligence, which is typical of the human driver, without altering the conventional driving control, such as the pedal control of the accelerator (forward and backward), the emergency brake, the direct steering wheel control. Computer vision is proved to be the main sensory system for both autonomous navigation and pallet recognition. ROBOLlFT is the result of a joint co-operation between Elsag Bailey Telerobot and Fiat OM Carrelli Elevatori SpA