H.2.5 AGV ‘Athene’

Autonomously Guided Vehicle on the factory floor (in cooperation with IfM / LRT):

Base vehicle with 3 wheels: CARROBOT K 2 (psb)

  • Body-fixed rear axle with two passive wheels,
  • single steered front wheel (torque motor), propelled by a conventional drive-brake electro-motor;
  • maximum speed:                      2 m/s
  • vehicle mass:                       ~ 380 kg
  • odometry at each wheel,
  • rate gyro around vertical axis (with large drift rate).

Camera with feature extraction and image evaluation by BVV2; PC for navigation and vehicle guidance.

A.4 AGV on Factory Floor

video 11 AGV-Athene OnFactoryFloor 1991

References

Graefe V (1990). The BVV-Family of of Robot Vision Systems. IEEE Workshop on Intelligent Motion Control. Istambul, Turkey

Hock C (1991). Landmark Navigation with ATHENE. 5th Int. Conf. on Advanced Robotics, Pisa, Italy

Hock C, Dickmanns ED (1992). Intelligent Navigation for Autonomous Robots Using Dynamic Vision. XVII-th Congress of the Int. Society for Photogrammetry and Remote Sensing (ISPRS), Washington, D.C.

Hock C (1994). Wissensbasierte Fahrzeugführung mit Landmarken für autonome Roboter. Dissertation, UniBwM / LRT