This paper proposes a solution for safe navigation of stacker vehicles in workspaces shared with people, with a focus on the docking manoeuvres for pallet picking and dropping. Behaviours for way-point and wall following are developed following the attractor dynamics approach. Then, these behaviours are orchestrated by state machines (that activate or deactivate them) depending on the specific task. Each of these states also defines different safe areas and maximum travel speeds, which is a requirement for safe operation. Results of real experiments are presented that show the standard operation and its robustness against perturbations (people in the way) and failure detection (missing pallets). ; Fundação para a Ciência e Tecnologia (FCT) within the R&D Units Project Scope: UIDB/00319/2020


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A safe autonomous stacker in human shared workspaces


    Beteiligte:

    Erscheinungsdatum :

    01.10.2020



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Stacker walking equipment and stacker

    SHAO JIANFENG / YE JIAFEI / GUO DONGMING et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Stacker

    ZHANG HANZHANG / FAN YONG | Europäisches Patentamt | 2015

    Freier Zugriff

    Stacker

    ZHU FUJIU | Europäisches Patentamt | 2015

    Freier Zugriff

    STACKER

    JEONG TAE HWA / KIM JI HYUNG / SON HAK DONG et al. | Europäisches Patentamt | 2015

    Freier Zugriff