1. Improving the navigation performance of simultaneous localization and mapping in narrow pathway between shelves.
- Author
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Chew, Z. Z., Eu, K. S., Alexander, C. H. C., Yap, K. M., and Tan, J. K. P.
- Subjects
AUTONOMOUS robots ,ROBOTS ,ALGORITHMS ,WAREHOUSES ,ANGLES - Abstract
Stock checking is a labour-intensive operation in a warehouse. Therefore, it is suggested to automate the task using a robot capable of autonomous navigation. Simultaneous Localization and Mapping (SLAM) is commonly used in robots to achieve autonomous navigation. However, the SLAM navigation controller cannot achieve linear locomotion in the narrow pathways between shelves and maintain a consistent distance to the shelf simultaneously, which is required to obtain an accurate scanning result. This paper aims to resolve this limitation. Shelf Following Transition Algorithm is proposed to achieve near-linear locomotion in a narrow pathway. Several experiments are conducted in real applications. Based on the result, the robot achieved near-linear locomotion with a k
p value of 0.001325, a kd value of 0.0035 and an entry angle of 90 degrees. It can be concluded that the requirement for the stock-checking robot is achieved. [ABSTRACT FROM AUTHOR]- Published
- 2024
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