Using a laser scanner to ensure the safety of an autonomous mobile vehicle

The paper presents a method of using hardware and software developed by the company to ensure the safe movement of an automatic mobile vehicle prototype built at the Cracow University of Technology.In modern production systems, inter-operational transport subsystems built from Automatic Guided Vehicles (AGV) are increasingly common. Control of the transport subsystem has so far been implemented mostly in a centralized manner, assuming deterministic conditions for task execution. Currently, the literature on the subject increasingly features distributed solutions that take into account the possibility of disturbances. The choice of the transport subsystem control method affects the decision-making autonomy of mobile vehicles represented by their control systems. Regardless of the control method applied or the navigation method used, safety problems will arise due to the unmanned nature of the vehicle’s movement. To ensure the safety of moving vehicles as well as elements of the industrial environment in which they (…)

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