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Vision-based alignment control for mini forklift system in confine area operation

Irawan, Addie and M. Aqeel, Yaacob and A. R., Razali and Sheikh Norhasmadi, Sheikh Ali and Farah Adiba, Azman and Mohd Razali, Daud (2018) Vision-based alignment control for mini forklift system in confine area operation. In: IEEE 3rd International Symposium on Agents, Multi-Agent Systems and Robotics (ISAMSR 2018), 27 August 2018 , Putrajaya, Malaysia. pp. 1-6.. ISBN 978-1-5386-7856-5

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Abstract

This paper presents the proposed vision-based alignment control system for a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) in heavy copper spool picking process. This task has been divided into two parts; image processing for spool inspection and switching control input for MHeLFAGV alignment. In image processing part, a vision camera is used and programmed to do marking processing using Haarcascade method for spool center capturing. Vision will capture images in real-time then automatically analyzing for marking the targeted spool in 1000milisecond and continuously sending the coordination of between camera and the targeted spool. On the other hand, proposed alignment control system module is developed to translate the information from the camera to the mecanum wheel driven sequences in order move both Cartesian motions of MHeLFAGV, x, and y-axis to align this vehicle and its forklifter to be at the center of the copper spool. The indoor experiment was done on the MHeLFAGV system on detecting the targeted copper spool in front. The test validated the proposed vision-based control when vehicle able to appearing the target spool as input from the vision camera.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Vision-based control; Real-time Haarcascade; Omnidirectional vehicle; confine area
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Faculty of Mechanical Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 11 Dec 2018 08:20
Last Modified: 18 Jan 2019 07:53
URI: http://umpir.ump.edu.my/id/eprint/22405
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