Parking Pose Generation for Autonomous Freight Collection by Pallet Handling Car-like Robot

Khayyam Masood, David Pérez Morales, Vincent Fremont, Matteo Zoppi and Rezia Molfino
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Khayyam Masood: PMAR Robotics, DIME, University of Genova, 16126 Genova, Italy
David Pérez Morales: LS2N, CNRS, Ecole Centrale de Nantes, 1 Rue de la Noë, 44300 Nantes, France
Vincent Fremont: LS2N, CNRS, Ecole Centrale de Nantes, 1 Rue de la Noë, 44300 Nantes, France
Matteo Zoppi: PMAR Robotics, DIME, University of Genova, 16126 Genova, Italy
Rezia Molfino: PMAR Robotics, DIME, University of Genova, 16126 Genova, Italy

Energies, 2021, vol. 14, issue 15, 1-15

Abstract: This paper focuses on autonomous navigation for an electric freight vehicle designed to collect freight autonomously using pallet handling robots installed in the vehicle. Apart from autonomous vehicle navigation, the primary hurdle for vehicle autonomy is the autonomous collection of freight irrespective of freight orientation/location. This research focuses on generating parking pose for the vehicle irrespective of the orientation of freight for its autonomous collection. Freight orientation is calculated by capturing the freight through onboard sensors. Afterward, this information creates a parking pose using mathematical equations and knowledge of the vehicle and freight collection limitations. Separate parking spots are generated for separate loading bays of the vehicle depending on the availability of the loading bay. Finally, results are captured and verified for different orientations of freight to conclude the research.

Keywords: parking generation; freight handling; autonomous vehicles; driver-less parking (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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