Passive localization of a forklift based on a template matching position tracking algorithm

被引:0
作者
Zahir, Ebad [1 ]
Parnichkun, Manukid [1 ]
机构
[1] Asian Inst Technol, Sch Engn & Technol, Dept Ind Syst Engn, Mechatron, Khlong Nueng, Thailand
来源
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2024年 / 21卷 / 05期
关键词
Forklift localization; position tracking; template matching; neural network;
D O I
10.1177/17298806241285731
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The presented research investigates the accuracy of a localization algorithm using lidar (NAV-350) pose data in a GPS denied environment. A template matching solution is presented using the corners of the workspace area as markers. Results are also compared against the lidar NAV-350's own software solution which are based on average reflector distance. The presented algorithm has shown to have a higher accuracy in most cases. Data is analyzed for approximately 100 different locations in a workspace of 8.9 m by 10.7 m using an industry standard forklift with a base dimension of 1 m x 1.3 m. This paper shows how the algorithm can successfully determine the x, y coordinates and heading angle of the forklift in real time.
引用
收藏
页数:15
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