Autonomous Forklift Navigation Inside a Cluttered Logistics Factory

Eric Lucet, Antoine Lucazeau, Jason Chemin

2024

Abstract

This paper presents the complete architecture of an application for autonomous forklift navigation in the cluttered and changing environment of a printing factory. A global path is selected from an existing road network, based on available navigation tracks. Then, a local path planner coupled with a path-following controller enables the navigation of the autonomous robots. A finite-state machine (FSM) architecture ensures transitions between the different operating modes of a robot during a mission, including obstacle avoidance. Navigation corridors are dynamically defined and are respected through the definition of tracking control constraints, enabling safe and efficient navigation at all times, taking into account the space constraints of a forklift truck in a congested factory. A forklift robot and its environment were simulated in ROS Gazebo to validate the approach, before carrying out in-depth experiments on a real robot prototype and estimating its performance in real-time during realistic operational scenarios.

Paper Citation

in Harvard Style

Lucet E., Lucazeau A. and Chemin J. (2024). Autonomous Forklift Navigation Inside a Cluttered Logistics Factory. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 327-335. DOI: 10.5220/0013067600003822

in Bibtex Style

@conference{icinco24,
author={Eric Lucet and Antoine Lucazeau and Jason Chemin},
title={Autonomous Forklift Navigation Inside a Cluttered Logistics Factory},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={327-335},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013067600003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Autonomous Forklift Navigation Inside a Cluttered Logistics Factory
SN - 978-989-758-717-7
AU - Lucet E.
AU - Lucazeau A.
AU - Chemin J.
PY - 2024
SP - 327
EP - 335
DO - 10.5220/0013067600003822
PB - SciTePress