Unmanned forklift docking using two cameras

Sang Jin Yi; Jae-Bok Song

doi:10.5302/J.ICROS.2015.15.0115

Unmanned forklift docking using two cameras

Sang Jin Yi, Jae-Bok Song

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

An unmanned forklift requires precise positioning and pallet detection. Therefore, conventional unmanned forklifts use high-cost sensors to find the exact position of the pallet. In this study, a docking algorithm with two cameras is proposed. The proposed method uses vision data to extract the angle difference between the pallet and the forklift. Then the control law is derived from the extracted angle for successful docking. The extracted angle is compared with the actual angle in the real environment. The control law is tested with the Lyapunov stability test and Routh-Hurwitz stability criterion. Through various experiments, the proposed docking algorithm showed the success rate high enough for real-life applications.

Original language	English
Pages (from-to)	930-935
Number of pages	6
Journal	Journal of Institute of Control, Robotics and Systems
Volume	21
Issue number	10
DOIs	https://doi.org/10.5302/J.ICROS.2015.15.0115
Publication status	Published - 2015 Oct 1

Bibliographical note

Publisher Copyright:
© ICROS 2015.

Keywords

docking system
unmanned forklift
vision based control

ASJC Scopus subject areas

Software
Control and Systems Engineering
Applied Mathematics

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10.5302/J.ICROS.2015.15.0115

Cite this

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title = "Unmanned forklift docking using two cameras",

abstract = "An unmanned forklift requires precise positioning and pallet detection. Therefore, conventional unmanned forklifts use high-cost sensors to find the exact position of the pallet. In this study, a docking algorithm with two cameras is proposed. The proposed method uses vision data to extract the angle difference between the pallet and the forklift. Then the control law is derived from the extracted angle for successful docking. The extracted angle is compared with the actual angle in the real environment. The control law is tested with the Lyapunov stability test and Routh-Hurwitz stability criterion. Through various experiments, the proposed docking algorithm showed the success rate high enough for real-life applications.",

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AB - An unmanned forklift requires precise positioning and pallet detection. Therefore, conventional unmanned forklifts use high-cost sensors to find the exact position of the pallet. In this study, a docking algorithm with two cameras is proposed. The proposed method uses vision data to extract the angle difference between the pallet and the forklift. Then the control law is derived from the extracted angle for successful docking. The extracted angle is compared with the actual angle in the real environment. The control law is tested with the Lyapunov stability test and Routh-Hurwitz stability criterion. Through various experiments, the proposed docking algorithm showed the success rate high enough for real-life applications.

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Unmanned forklift docking using two cameras

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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