Passive localization of a forklift based on a template matching position tracking algorithm
The presented research investigates the accuracy of a localization algorithm using lidar (NAV-350) pose data in a GPS denied environment. A template matching solution is presented using the corners of the workspace area as markers. Results are also compared against the lidar NAV-350's own softw...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2024-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806241285731 |
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| Summary: | The presented research investigates the accuracy of a localization algorithm using lidar (NAV-350) pose data in a GPS denied environment. A template matching solution is presented using the corners of the workspace area as markers. Results are also compared against the lidar NAV-350's own software solution which are based on average reflector distance. The presented algorithm has shown to have a higher accuracy in most cases. Data is analyzed for approximately 100 different locations in a workspace of 8.9 m by 10.7 m using an industry standard forklift with a base dimension of 1 m × 1.3 m. This paper shows how the algorithm can successfully determine the x , y coordinates and heading angle of the forklift in real time. |
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| ISSN: | 1729-8814 |