Object detection and trajectory planning using a LIDAR for an automated overhead crane

Sampo Simolin, Kaarle Patonmaki, Arnab Chattopadhyay, Joakim Högnäsbacka, Joonas Pulkkinen, Janne Salovaara, Timo Oksanen, Panu Kiviluoma, Petri Kuosmanen

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

Overhead cranes are used widely in industry for cargo handling. This study demonstrated the use of LIDAR for autonomous navigation of an overhead crane in a warehouse environment. This proposed crane system decides its path solely based on the LIDAR sensor data. First the LIDAR rotates 360 degree to generate the environmental map data and based on it, it determines the trajectory to the final co-ordinate chosen. The map is dynamically updated as the crane autonomously navigates through the surroundings. This system was put through some navigational tests and scenarios in the warehouse and it successfully demonstrated the concept.
Original languageEnglish
Title of host publicationProceedings of the 4th Baltic Mechatronics Symposium
PublisherAalto University, School of Engineering
Number of pages5
ISBN (Electronic)978-952-60-3781-3
Publication statusPublished - 2019
MoE publication typeA4 Article in a conference publication
EventBaltic Mechatronics Symposium - Tallinn, Estonia
Duration: 25 Apr 201925 Apr 2019
Conference number: 4

Conference

ConferenceBaltic Mechatronics Symposium
CountryEstonia
CityTallinn
Period25/04/201925/04/2019

Keywords

  • autonomous system
  • obstacle avoidance
  • machine vision
  • material handling

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