TY - GEN
T1 - Semi-Automatic Pallet Pick-up as an Advanced Driver Assistance System for Forklifts
AU - Molter, Benjamin
AU - Fottner, Johannes
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This paper presents a novel advanced driver assistance system for human-operated forklifts in logistical scenarios. The system helps the operator to pick up wooden pallets by performing a collision-free insertion of the forks into the pallet. For this purpose, the assistance system takes over the steering function of the vehicle while it approaches the pallet. A 3D camera-based system is used to detect and localize the pallets while driving. For every localized pallet, a trajectory is calculated which has to fulfill certain conditions. These include an at least curvature continuous course and limiting vehicle parameters, such as a limited steering angle. Furthermore, the necessary user interface for the correct selection of the target pallet and the activation of the assistance function is presented. Finally, a technical method is described to realize the steering intervention on an existing forklift.
AB - This paper presents a novel advanced driver assistance system for human-operated forklifts in logistical scenarios. The system helps the operator to pick up wooden pallets by performing a collision-free insertion of the forks into the pallet. For this purpose, the assistance system takes over the steering function of the vehicle while it approaches the pallet. A 3D camera-based system is used to detect and localize the pallets while driving. For every localized pallet, a trajectory is calculated which has to fulfill certain conditions. These include an at least curvature continuous course and limiting vehicle parameters, such as a limited steering angle. Furthermore, the necessary user interface for the correct selection of the target pallet and the activation of the assistance function is presented. Finally, a technical method is described to realize the steering intervention on an existing forklift.
KW - Advanced driver assistance system
KW - Forklift
KW - Object detection
KW - Pallet pick-up
KW - Trajectory calculation
UR - http://www.scopus.com/inward/record.url?scp=85076801752&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2019.8917189
DO - 10.1109/ITSC.2019.8917189
M3 - Conference contribution
AN - SCOPUS:85076801752
T3 - 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
SP - 4464
EP - 4469
BT - 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Y2 - 27 October 2019 through 30 October 2019
ER -