Self-localisation and Map Building for Collision-Free Robot Motion

  • Oytun Akman
  • Pieter Jonker


Robotic manipulation for order picking is one of the big challenges for future warehouses. In every phase of this picking process (object detection and recognition, object grasping, object transport, and object deposition), avoiding collisions is crucial for successful operation. This is valid for different warehouse designs, in which robot arms and autonomous vehicles need to know their 3D pose (position and orientation) in their environment to perform their tasks, using collision-free path planning and visual servoing. On-line 3D map generation of this immediate environment makes it possible to adapt a standard static map to dynamic environments. In this chapter, a novel framework for pose tracking and map building for collision-free robot and autonomous vehicle motion in context-free environments is presented. First the system requirements and related work are presented, whereafter a description of the developed system and its experimental results follow. In the final section, conclusions are drawn and future research directions are discussed.


Path Planning Automate Guide Vehicle Stereo Pair Visual Servoing Order Picking 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London Limited  2012

Authors and Affiliations

  1. 1.Faculty of Mechanical, Maritime and Materials EngineeringDelft University of TechnologyDelftThe Netherlands

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