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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...
Automated guided vehicles (AGVs) are useful for a variety of transportation tasks. They usually detect obstacles on the path they are following using 2D laser scanners. If an AGV should be deployed in a shared space with people, 3D information has to be considered as well to detect unforeseen obstacles. These can be small objects on the floor or overhanging parts of larger objects, which cannot be...
This paper addresses the task of calibrating the kinematic parameters and odometry of car-like robots with dual-axis steering. To achieve this goal only the robots builtin laser rangers and no external tracking systems are employed. We introduce a method to actively calibrate the steering angles of both front and rear steering angles with a multi-input multi-output (MIMO) controller. Using the determined...
In this paper we present a comparison of multiple approaches to visual terrain classification for outdoor mobile robots based on local features. We compare the more traditional texture classification approaches, such as Local Binary Patterns, Local Ternary Patterns and a newer extension Local Adaptive Ternary Patterns, and also modify and test three non-traditional approaches called SURF, DAISY and...
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