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

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. 5^th 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 Kurzfassung