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Parking Pose Generation for Autonomous Freight Collection by Pallet Handling Car-like Robot

Author

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  • Khayyam Masood

    (PMAR Robotics, DIME, University of Genova, 16126 Genova, Italy
    LS2N, CNRS, Ecole Centrale de Nantes, 1 Rue de la Noë, 44300 Nantes, France
    Current address: Room 213, LS2N, CNRS, Ecole Centrale de Nantes, 1 Rue de la Noë, 44300 Nantes, France.)

  • David Pérez Morales

    (LS2N, CNRS, Ecole Centrale de Nantes, 1 Rue de la Noë, 44300 Nantes, France)

  • Vincent Fremont

    (LS2N, CNRS, Ecole Centrale de Nantes, 1 Rue de la Noë, 44300 Nantes, France)

  • Matteo Zoppi

    (PMAR Robotics, DIME, University of Genova, 16126 Genova, Italy)

  • Rezia Molfino

    (PMAR Robotics, DIME, University of Genova, 16126 Genova, Italy)

Abstract

This paper focuses on autonomous navigation for an electric freight vehicle designed to collect freight autonomously using pallet handling robots installed in the vehicle. Apart from autonomous vehicle navigation, the primary hurdle for vehicle autonomy is the autonomous collection of freight irrespective of freight orientation/location. This research focuses on generating parking pose for the vehicle irrespective of the orientation of freight for its autonomous collection. Freight orientation is calculated by capturing the freight through onboard sensors. Afterward, this information creates a parking pose using mathematical equations and knowledge of the vehicle and freight collection limitations. Separate parking spots are generated for separate loading bays of the vehicle depending on the availability of the loading bay. Finally, results are captured and verified for different orientations of freight to conclude the research.

Suggested Citation

  • Khayyam Masood & David Pérez Morales & Vincent Fremont & Matteo Zoppi & Rezia Molfino, 2021. "Parking Pose Generation for Autonomous Freight Collection by Pallet Handling Car-like Robot," Energies, MDPI, vol. 14(15), pages 1-15, August.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:15:p:4677-:d:606736
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    References listed on IDEAS

    as
    1. Khayyam Masood & Matteo Zoppi & Vincent Fremont & Rezia M. Molfino, 2021. "From Drive-By-Wire to Autonomous Vehicle: Urban Freight Vehicle Perspectives," Sustainability, MDPI, vol. 13(3), pages 1-21, January.
    2. Ostermeier, Manuel & Henke, Tino & Hübner, Alexander & Wäscher, Gerhard, 2021. "Multi-compartment vehicle routing problems: State-of-the-art, modeling framework and future directions," European Journal of Operational Research, Elsevier, vol. 292(3), pages 799-817.
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    Cited by:

    1. Fang Dong & Jiyao Yin & Jirubin Xiang & Zhangyu Chang & Tiantian Gu & Feihu Han, 2023. "EWM-FCE-ODM-Based Evaluation of Smart Community Construction: From the Perspective of Residents’ Sense of Gain," Sustainability, MDPI, vol. 15(8), pages 1-21, April.
    2. Marek Guzek & Rafał S. Jurecki & Wojciech Wach, 2022. "Vehicle and Traffic Safety," Energies, MDPI, vol. 15(13), pages 1-4, June.

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