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An Autonomous Guided Vehicle for Cargo Handling Applications
Abstract
This article describes an autonomous guided vehicle (AGV) system designed to transport ISO standard cargo containers in port environments. The AGV consists of a large 17.5-ton chassis, which is driven and steered through a diesel-hydraulic power set. The vehicle drives on pneumatic wheels over un prepared road surfaces at speeds up to 6 m/s. The navigation system is based on the use of millimeter-wave radar sensors detecting beacons placed at known locations in the environ ment. The navigation system reliably achieves accuracies of better than 3 cm. The planning and control systems allow the AGV to operate in the quay and yard area, to dock with gantry cranes, and to achieve a duty cycle comparable to that of a conventional manned vehicle. This article concentrates on describing three principal contributions of this work: the de sign of the overall vehicle and on-board systems architecture; the development of a navigation system appropriate for large, outdoor, high-speed vehicles; and the experimental program leading to validation of the vehicle system.
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Research works printed but not linked: 15
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Cited by
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age
Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., & Leonard, J. J. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2624754 · Cited by 3,596
A solution to the simultaneous localization and map building (SLAM) problem
Dissanayake, M. W. M. G., Newman, P., Clark, S., Durrant-Whyte, H. F., & Csorba, M. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.938381 · Cited by 2,661
Self-citationGuivant, J. E., & Nebot, E. M. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.938382 · Cited by 772
Autonomous driving in urban environments: approaches, lessons and challenges
Campbell, M., Egerstedt, M., How, J. P., & Murray, R. M. (2010) · Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences · doi:10.1098/rsta.2010.0110 · Cited by 353
A counter example to the theory of simultaneous localization and map building
Julier, S. J., & Uhlmann, J. K. (2002) · Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) · doi:10.1109/robot.2001.933280 · Cited by 317
Metadata
- Authors
- Durrant-Whyte, H. F.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1996-10
- Volume
- 15
- Issue
- 5
- Pages
- 407-440
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2125873991
- Cited by
- 165
- References
- 0
- FWCI
- 28.07
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- journals.sagepub.com/page/policies/text-and-data-mining-license (tdm)
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- Durrant-Whyte, H. F. (1996). An Autonomous Guided Vehicle for Cargo Handling Applications. The International Journal of Robotics Research. https://doi.org/10.1177/027836499601500501
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
