Proceedings of the 31st International Symposium on Robotics pages:83-88
31st International Symposium on Robotics location:Montréal, Canada date:May 14-17, 2000
The paper describes one of the first commercially available fully free-ranging AGVs. The most innovative feature of its navigation system ENSOR is that it uses natural landmarks as its guiding system. These landmarks, consisting of lines and point clusters, are identified using a laser range finder and matched with the corresponding features of an a priori CAD model of the shop floor. The system further incorporates a behaviour based obstacle avoidance strategy and a pallet detection and docking algorithm.