Multi-sensor Payload Detection and Acquisition for Truck-Trailer AGVs

Sebastian Buck1, Richard Hanten1, Karsten Bohlmann2, Andreas Zell1

  • 1University of Tübingen
  • 2Eberhard-Karls-Universität Tübingen


11:35 - 11:40 | Tue 30 May | Room 4311/4312 | TUB3.2

Session: [TUB3] Computer Vision 2

Category: Regular Papers • RA-L Papers

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A fundamental task of automated guided vehicles is transporting heavy payloads. These payloads are often given in the form of large containers that are mounted onto a cart with four caster wheels. In this paper we investigate a combined detection and control architecture that allows an AGV to reliably detect and acquire such containers at any location, independently of a global localization system. We propose a solution using a horizontally mounted 2D laser scanner and a forward facing 3D time-of-flight camera to detect the payload. Furthermore we demonstrate the algorithm on an asymmetric AGV that consists of a differentially driven base and a trailer with a lifting unit.