i-Fork: a flexible AGV system using topological and grid maps

- In this paper we describe the navigation and planning of the i-Fork system, a flexible AGV intended to operate in partially structured warehouses where frequent floor plant layout modifications occur. This is achieved by using a combination of topological and grid maps in such a way that the operator work in layout modification procedures is greatly reduced. The system is currently working in an agricultural company with great success.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Humberto Martínez Barberá, Juan Petro Canovas Quiñonero, Miguel Zamora Izquierdo, Antonio F. Gómez-Skarmeta
• Keywords: ICRA 2003, Layout Modification, Layout Modification Procedures, Plant Layout Modifications, Robotics