Service robotics in logistic automation: ROBOLIFT: vision based autonomous navigation of a conventional fork-lift for pallet handling

摘要

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 keep all the conventional drive actuators for the human driver. 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. ROBOLIFT is the result of a joint co-operation between Elsag Bailey Telerobot and Fiat OM Carrelli Elevatori SpA.