Detektion av hinder och hur de kan undvikas för ett autonomt guidat fordon

The need for faster and more reliable logistics solutions is rapidly increasing. This is due to higher demands on the logistical services to improve quality, quantity, speed and reduce the error tolerance. An arising solution to these increased demands is automated solutions in warehouses, i.e., automated material handling. In order to provide a satisfactory solution, the vehicles need to be smart and able to solve unexpected situations without human interaction. The purpose of this thesis was to investigate if obstacle detection and avoidance in a semi-unknown environment could be achieved based on the data from a 2D LIDAR-scanner. The work was done in cooperation with the development of a new load-handling vehicle at Toyota Material Handling. The vehicle is navigating from a map that is created when the vehicle is introduced to the environment it will be operational within. Therefore, it cannot successfully navigate around new unrepresented obstacles in the map, something that often occurs in a material handling warehouse. The work in this thesis resulted in the implementation of a modified occupancy grid map algorithm, that can create maps of previously unknown environments if the position and orientation of the AGV are known. The generated occupancy grid map could then be utilized in a lattice planner together with the A* planning algorithm to find the shortest path. The performance was tested in different scenarios at a testing facility at Toyota Material Handling. The results showed that the occupancy grid provided an accurate description of the environment and that the lattice planning provided the shortest path, given constraints on movement and allowed closeness to obstacles. However, some performance enhancement can still be introduced to the system which is further discussed at the end of the report. The main conclusions of the project are that the proposed solution met the requirements placed upon the application, but could benefit from a more efficient usage of the mapping algorithm combined with more extensive path planning.Digital framläggning