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Obstacle Coordinates Transformation from TVS Body-Frame to AGV Navigation-Frame

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Authors

  • Xavier de J. Garcia-Gutierrez
  • Ruben Alaniz-Plata
  • Gabriel Trujillo-Hernandez
  • Ivan Y. Alba-Corpus
  • Wendy Flores-Fuentes
  • Julio C. Rodriguez-Quinonez
  • Daniel Hernández-Balbuena
  • Oleg Sergiyenko
  • Felix F. González-Navarro
  • Paolo Mercorelli
  • Jesús E. Miranda-Vega
  • Fabian N. Murrieta-Rico

This paper describes a mathematical method for obstacle coordinates transformation from a Technical Vision System (TVS) Body-Frame to an Automated Guided Vehicle (AGV) Navigation-Frame. The method is for AGVs equipped with a TVS to scan the scene in front of its travel direction in order to detect the presence of objects and measure their coordinates in the Navigation-Frame to avoid them. The proposed coordinate's transformation method is based on a AGVs kinematic model that includes the calculation of the AGVs load variation influence by the change of the center of gravity of the AGV traveling in an ideal floor conditions.

Original languageEnglish
Title of host publication2022 IEEE 31st International Symposium on Industrial Electronics (ISIE)
Number of pages5
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date01.06.2022
Pages589-593
ISBN (print)978-1-6654-8241-7
ISBN (electronic)978-1-6654-8240-0, 978-1-6654-8239-4
DOIs
Publication statusPublished - 01.06.2022
Event31st IEEE International Symposium on Industrial Electronics - ISIE 2022 - Egan Center, Anchorage, United States
Duration: 01.06.2022 → 03.06.2022
Conference number: 31

Bibliographical note

Publisher Copyright: © 2022 IEEE.

    Research areas

  • Engineering
  • 3D scanning, automated guided vehicle, navigation, technical vision system

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Fernandes, F. M., Dos Santos, M. F., De Morais, M. H. F., Lima, J., Pereira, A. I. & Mercorelli, P., 2025, Proceedings of the 2025 26th International Carpathian Control Conference (ICCC): Grandhotel Starý Smokovec, High Tatras, Starý Smokovec, Slovak Republic, 19-21 May 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Piscataway: Institute of Electrical and Electronics Engineers Inc., 6 p. (International Carpathian Control Conference, ICCC; vol. 26).

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