Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Network-based Distributed Approach for Implementation of an Unmanned Autonomous Forklift

무인 자율 주행 지게차 구현을 위한 네트워크 기반 분산 접근 방법

  • 송영훈 (부산대학교 기계공학부) ;
  • 박지훈 (부산대학교 기계공학부) ;
  • 이경창 (부경대학교 제어계측공학과) ;
  • 이석 (부산대학교 기계공학부)
  • Received : 2010.03.23
  • Accepted : 2010.06.25
  • Published : 2010.09.01
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Abstract

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control and so on. Implementation, which is often neglected, is one of practical issues in developing such an autonomous device. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. Another requirement on the integration is that the system should allow changes in the system design so that modification and addition of system components can be accommodated without too much effort. This paper presents a network-based distributed approach where system components are connected to a shared CAN network, and control functions are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. This approach is successfully applied to develop an unmanned forklift.

Keywords

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  1. Development of Autonomous Loading and Unloading for Network-based Unmanned Forklift vol.17, pp.10, 2011, https://doi.org/10.5302/J.ICROS.2011.17.10.1051