I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
13
,
No
.
4
,
Dec
em
b
er
20
24
,
p
p
.
3
9
1
~
4
0
0
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
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.
1
1
5
9
1
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jr
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v
1
3
i
4
.
pp
39
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-
400
391
J
o
ur
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e
:
h
ttp
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r
a
.
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Experime
ntal res
ults on po
sitio
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th
co
ntrol o
f
a
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utom
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g
uide
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f
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and
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rkers
Ra
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ul And
h
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re
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T
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ticle
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y:
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2
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g
1
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p
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t
h
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re
su
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ts
o
f
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p
e
rime
n
ts
o
n
p
a
th
p
la
n
n
i
n
g
a
n
d
c
o
n
tr
o
l
o
f
a
u
to
m
a
ted
g
u
i
d
e
d
v
e
h
icle
s
(AG
V)
u
sin
g
sin
g
le,
fi
x
e
d
c
e
il
in
g
m
o
u
n
ted
,
m
o
n
o
c
u
lar
c
a
m
e
ra
s
a
n
d
c
o
lo
re
d
m
a
rk
e
rs.
Th
e
c
a
m
e
ra
e
m
p
lo
y
e
d
i
n
th
e
sy
ste
m
se
rv
e
s
a
s
b
o
th
a
se
n
so
r
a
n
d
c
o
n
tr
o
ll
e
r.
In
it
ially
,
th
e
w
o
rk
i
n
g
e
n
v
ir
o
n
m
e
n
t
is
stru
c
tu
re
d
u
sin
g
c
o
lo
re
d
m
a
rk
e
rs
fo
r
g
i
v
e
n
a
p
p
li
c
a
ti
o
n
s.
F
o
r
e
v
e
ry
n
e
w
se
tu
p
,
stru
c
tu
ri
n
g
th
e
e
n
v
iro
n
m
e
n
t
is
e
ss
e
n
ti
a
l.
Th
e
ima
g
e
p
ro
c
e
ss
in
g
a
lg
o
rit
h
m
id
e
n
ti
fies
t
h
e
c
o
l
o
re
d
m
a
rk
e
rs
a
n
d
th
e
ir
p
o
siti
o
n
s,
w
h
ich
a
re
t
h
e
n
u
ti
li
z
e
d
f
o
r
p
a
th
p
lan
n
i
n
g
a
n
d
se
g
m
e
n
tati
o
n
.
Th
e
a
c
tu
a
ti
o
n
ti
m
e
re
q
u
ired
t
o
tran
sv
e
rse
e
a
c
h
se
g
m
e
n
t
is
c
a
lcu
late
d
a
n
d
th
e
n
AG
V
is
a
c
tu
a
ted
a
c
c
o
r
d
in
g
ly
.
A
tran
sfo
rm
a
ti
o
n
o
r
in
v
e
rse
m
a
p
p
i
n
g
m
a
tri
x
(M
),
p
re
d
e
term
in
e
d
,
is
e
m
p
lo
y
e
d
fo
r
c
a
lcu
lati
n
g
wo
rl
d
c
o
o
r
d
i
n
a
tes
fro
m
g
iv
e
n
ima
g
e
c
o
o
r
d
i
n
a
tes
.
P
a
th
p
lan
n
in
g
a
n
d
AG
V
c
o
n
t
ro
l
a
re
a
c
ro
ss
v
a
rio
u
s
p
a
th
s,
b
o
t
h
wit
h
a
n
d
wit
h
o
u
t
sta
ti
c
o
b
sta
c
les
,
in
re
a
l
-
ti
m
e
a
p
p
li
c
a
t
io
n
s.
Th
e
c
o
l
o
re
d
m
a
rk
e
r
d
e
t
e
c
ti
o
n
a
n
d
re
c
o
g
n
it
i
o
n
a
c
c
u
ra
c
y
fo
r
th
e
g
iv
e
n
se
tu
p
h
a
v
e
b
e
e
n
fo
u
n
d
c
e
n
t
p
e
rc
e
n
tag
e
wh
il
e
th
e
AG
V
re
a
c
h
e
s
th
e
g
o
a
l
p
o
in
t
with
a
n
e
rr
o
r
m
a
rg
i
n
o
f
a
ro
u
n
d
3
.
9
%
o
n
stra
ig
h
t
p
a
th
s,
b
o
th
wit
h
a
n
d
wit
h
o
u
t
o
b
sta
c
les
.
K
ey
w
o
r
d
s
:
Au
to
m
ated
g
u
id
ed
v
eh
icle
C
eilin
g
ca
m
er
a
C
o
n
tr
o
l
Ma
p
p
in
g
Path
p
lan
n
in
g
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Dr
.
R
am
esh
Pu
n
g
le
Dep
ar
tm
en
t o
f
Me
ch
an
ical
an
d
Au
to
m
atio
n
E
n
g
in
ee
r
in
g
,
P.E
.
S.
C
o
lleg
e
o
f
E
n
g
in
ee
r
in
g
C
h
h
atr
ap
ati
Sam
b
h
ajin
ag
r
,
I
n
d
ia
E
m
ail:
r
am
esh
g
p
u
n
g
le@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
T
r
ad
itio
n
ally
,
in
au
to
m
ated
g
u
id
ed
v
eh
icle
(
AGV)
n
av
ig
atio
n
,
it h
as b
ee
n
co
m
m
o
n
p
r
ac
tic
e
to
u
tili
ze
a
v
ar
iety
o
f
s
en
s
o
r
s
,
b
o
th
o
n
b
o
ar
d
(
m
o
u
n
ted
d
ir
ec
tl
y
o
n
th
e
AGV)
an
d
o
f
f
-
b
o
ar
d
(
p
o
s
itio
n
ed
o
n
th
e
ce
ilin
g
o
r
at
s
u
itab
le
lo
ca
tio
n
s
)
,
f
o
r
task
s
s
u
ch
as
p
ath
d
etec
tio
n
,
o
b
s
tacle
d
etec
tio
n
,
an
d
n
av
ig
atio
n
to
war
d
s
a
d
esti
n
atio
n
wh
ile
av
o
id
in
g
o
b
s
tacle
s
.
I
n
A
GV
n
av
ig
atio
n
,
th
e
g
en
er
al
tr
a
d
itio
n
h
as b
ee
n
t
o
u
s
e
d
if
f
er
en
t sen
s
o
r
s
;
o
n
b
o
ar
d
(
m
o
u
n
te
d
o
n
th
e
AGV)
an
d
o
f
f
-
b
o
a
r
d
(
f
ix
ed
at
th
e
ce
ilin
g
o
r
s
u
itab
le
lo
ca
tio
n
)
,
to
d
etec
t
o
r
g
e
n
er
ate
a
p
ath
,
d
etec
t
o
b
s
tacle
s
,
an
d
also
to
r
ea
ch
th
e
d
esti
n
atio
n
b
y
a
v
o
id
in
g
th
e
o
b
s
tacle
s
.
On
b
o
ar
d
s
en
s
o
r
s
ar
e
ty
p
ically
f
av
o
r
e
d
f
o
r
th
eir
ab
ilit
y
t
o
d
et
ec
t
an
d
cir
cu
m
v
en
t
b
o
th
s
tatic
an
d
d
y
n
am
ic
o
b
s
tacle
s
alo
n
g
a
g
iv
en
p
ath
.
T
h
ese
s
en
s
o
r
s
en
ab
le
lo
ca
l p
ath
p
lan
n
in
g
an
d
m
o
tio
n
p
lan
n
in
g
b
y
p
r
o
v
id
i
n
g
r
ea
l
-
tim
e
f
ee
d
b
ac
k
d
ir
ec
tly
to
th
e
AGV.
Of
f
-
b
o
ar
d
s
en
s
o
r
s
,
o
n
t
h
e
o
th
e
r
h
an
d
,
ar
e
o
f
te
n
em
p
lo
y
ed
to
p
lan
th
e
o
v
er
all
p
ath
,
tak
i
n
g
in
to
ac
co
u
n
t
th
e
p
o
s
itio
n
s
o
f
th
e
AGV
an
d
s
tatic
o
b
s
tacle
s
with
in
th
e
en
v
ir
o
n
m
en
t.
Ho
wev
er
,
em
p
lo
y
in
g
m
u
ltip
le
s
en
s
o
r
s
o
n
b
o
a
r
d
th
e
AGV
ca
n
in
tr
o
d
u
ce
s
y
n
ch
r
o
n
izatio
n
c
h
allen
g
es
am
o
n
g
th
eir
o
u
tp
u
ts
,
p
o
t
en
tially
lead
in
g
to
co
m
p
lex
co
n
tr
o
l
s
y
s
tem
s
an
d
i
n
cr
ea
s
ed
r
esp
o
n
s
e
tim
es.
Alter
n
ativ
ely
,
if
a
s
in
g
le
o
f
f
b
o
ar
d
s
en
s
o
r
is
ca
p
ab
le
o
f
p
er
f
o
r
m
in
g
all
o
f
th
ese
task
s
,
th
e
p
r
o
b
lem
b
ec
o
m
es
s
ig
n
i
f
ican
tly
s
im
p
ler
t
o
s
o
lv
e,
an
d
th
e
co
m
p
le
x
ity
o
f
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
13
,
No
.
4
,
Dec
em
b
er
20
24
:
3
9
1
-
4
0
0
392
co
n
tr
o
ller
ca
n
b
e
m
in
im
ized
.
B
y
ce
n
tr
alizin
g
th
ese
f
u
n
ctio
n
s
in
a
s
in
g
le
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en
s
o
r
,
th
e
n
ee
d
f
o
r
s
y
n
c
h
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o
n
izatio
n
am
o
n
g
m
u
ltip
le
s
en
s
o
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s
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ated
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tr
ea
m
lin
in
g
t
h
e
co
n
t
r
o
l p
r
o
ce
s
s
an
d
en
h
a
n
cin
g
o
v
e
r
all
ef
f
icien
cy
.
Vis
io
n
-
b
ased
n
av
i
g
atio
n
is
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n
e
s
u
ch
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n
o
v
atio
n
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en
t a
d
v
an
ce
m
en
ts
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im
a
g
e
p
r
o
ce
s
s
in
g
h
ar
d
war
e
an
d
s
o
f
twar
e
h
av
e
en
ab
led
f
as
t
an
d
f
ea
s
ib
le
r
ea
l
-
tim
e
v
is
u
al
ap
p
licatio
n
s
.
C
o
n
s
eq
u
en
tly
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v
is
u
al
g
u
id
an
ce
an
d
o
b
s
tacle
av
o
id
a
n
ce
h
av
e
b
ec
o
m
e
th
e
f
o
cu
s
o
f
ex
ten
s
iv
e
r
esear
ch
[
1
]
.
I
n
th
is
co
n
tex
t,
t
h
e
c
u
r
r
en
t
s
tu
d
y
a
d
d
r
ess
es
th
e
ch
allen
g
e
o
f
ac
h
ie
v
in
g
a
cc
u
r
ate,
p
r
ec
is
e,
an
d
r
o
b
u
s
t
p
o
s
itio
n
esti
m
atio
n
in
in
d
o
o
r
en
v
ir
o
n
m
en
ts
.
T
h
e
o
b
jectiv
e
o
f
th
is
r
esear
ch
is
to
u
tili
ze
a
s
in
g
le
ca
m
er
a
as
a
s
en
s
o
r
an
d
co
n
tr
o
ller
to
ex
ec
u
t
e
p
lan
n
ed
a
ctiv
ities
u
s
in
g
th
e
AGVs.
I
m
ag
e
p
r
o
ce
s
s
in
g
is
an
im
p
o
r
tan
t
is
s
u
e
f
o
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m
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y
co
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p
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ter
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p
p
lic
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u
ch
as
t
h
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tr
u
ctu
r
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o
f
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n
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[
2
]
–
[
6
]
.
I
n
m
a
p
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[
7
]
–
[
1
1
]
.
T
h
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[
1
0
]
,
[
1
2
]
.
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[
4
]
,
[
6
]
,
[
8
]
h
a
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[
1
3
]
,
w
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[
1
4
]
,
h
o
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]
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n
[
1
6
]
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[
1
7
]
,
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[
1
8
]
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a
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.
[
1
9
]
d
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[
2
0
]
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d
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[
2
1
]
–
[
2
4
]
.
T
h
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m
a
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.
2.
P
RO
P
O
SE
D
SYS
T
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M
O
V
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RVIE
W
T
h
e
s
cien
tific
r
atio
n
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b
eh
in
d
d
ev
elo
p
in
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s
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s
tem
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t
o
elim
in
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e
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s
s
en
s
o
r
s
f
ix
ed
o
n
t
h
e
AGV
to
co
llect
d
i
f
f
er
en
t
e
n
v
ir
o
n
m
en
tal
in
f
o
r
m
a
tio
n
.
T
h
e
s
in
g
le
web
ca
m
er
a
is
u
tili
ze
d
to
m
ap
th
e
en
v
ir
o
n
m
en
t,
r
ec
o
g
n
ize
th
e
o
b
s
tacle
s
,
p
lan
th
e
p
ath
,
an
d
co
n
t
r
o
l
th
e
AGV
alo
n
g
th
at
p
ath
.
T
h
e
AGV
n
av
ig
atio
n
is
p
lan
n
ed
an
d
ex
ec
u
ted
in
a
s
tr
u
ctu
r
ed
en
v
ir
o
n
m
e
n
t
b
y
co
n
s
i
d
er
in
g
t
h
e
lim
itatio
n
s
o
f
a
s
in
g
le
ca
m
er
a
wo
r
k
in
g
b
o
th
as
a
s
en
s
o
r
an
d
co
n
tr
o
lle
r
.
I
n
s
u
ch
a
n
av
ig
atio
n
s
y
s
te
m
,
en
v
ir
o
n
m
en
t
m
ap
p
i
n
g
i
s
ess
en
tial
f
o
r
ac
cu
r
ate
p
o
s
itio
n
in
g
o
f
th
e
AGV,
d
eter
m
in
in
g
th
e
e
n
d
p
o
s
itio
n
,
an
d
l
an
d
m
ar
k
s
.
T
h
e
p
o
s
itio
n
s
o
f
th
e
AGV
o
r
o
b
s
tacle
s
,
as
d
eter
m
in
ed
b
y
th
e
ca
m
e
r
a,
ar
e
in
itially
in
im
ag
e
c
o
o
r
d
i
n
a
tes
(
in
p
ix
els)
an
d
n
ee
d
to
b
e
m
ap
p
ed
i
n
to
wo
r
ld
co
o
r
d
in
ates
(
i
n
m
illi
m
eter
s
o
r
m
eter
s
)
to
ascer
tain
th
e
ac
tu
al
p
ath
tr
av
eled
b
y
th
e
AGV
in
th
e
wo
r
ld
co
o
r
d
in
ate
s
y
s
tem
.
T
h
er
ef
o
r
e,
as
th
e
f
ir
s
t
s
tep
,
th
e
in
v
er
s
e
m
ap
p
in
g
m
a
tr
ix
(
)
f
o
r
2
D
p
o
in
ts
in
th
e
w
o
r
ld
p
lan
e
an
d
th
eir
co
r
r
esp
o
n
d
in
g
p
o
in
ts
in
th
e
im
ag
e
p
lan
e
is
d
eter
m
in
ed
u
s
in
g
a
ch
ec
k
er
b
o
ar
d
s
h
ee
t.
Fo
r
esti
m
atin
g
th
e
m
ap
p
in
g
m
atr
ix
(
M)
,
a
ch
ec
k
e
r
b
o
ar
d
s
h
ee
t
with
1
0
0
m
m
×
1
0
0
m
m
s
q
u
a
r
e
is
p
lace
d
i
n
th
e
en
v
ir
o
n
m
e
n
t,
an
d
th
e
ca
m
er
a
is
ac
tiv
ated
to
ca
p
t
u
r
e
im
ag
es
o
f
th
e
e
n
v
ir
o
n
m
en
t
.
Usi
n
g
a
ca
m
er
a’
s
p
in
h
o
le
m
o
d
el,
th
e
p
r
o
jectio
n
f
r
o
m
th
e
3
D
s
p
ac
e
to
th
e
im
ag
e
p
lan
e
ca
n
b
e
d
escr
ib
e
d
with
(
1
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
E
xp
erimen
ta
l res
u
lts
o
n
p
o
s
itio
n
a
n
d
p
a
th
co
n
tr
o
l o
f a
n
a
u
to
ma
ted
g
u
id
e
d
ve
h
icle
…
(
R
a
m
esh
P
u
n
g
le
)
393
[
1
]
=
Κ
[
RT
]
[
1
]
(
1
)
w
h
er
e
is
an
ar
b
itra
r
y
s
ca
le
f
a
cto
r
,
p
=
[
u
v
1
]
T
a
r
e
th
e
co
o
r
d
in
ates
o
f
th
e
2
D
p
o
i
n
t
p
r
o
jec
ted
o
n
to
th
e
im
a
g
e
p
lan
e,
P
=
[
X
,
Y
,
Z
,
1
]
T
ar
e
th
e
co
o
r
d
in
ates
o
f
th
e
p
o
in
t
i
n
th
e
r
ef
e
r
en
ce
o
r
wo
r
ld
p
lan
e
o
f
th
e
3
D
s
p
ac
e.
R
r
ep
r
esen
ts
th
e
r
o
tatio
n
o
f
th
e
co
o
r
d
in
ate
s
y
s
tem
o
f
th
e
3
D
p
o
in
ts
with
r
esp
ec
t
to
th
e
o
r
ig
in
;
T
is
a
v
ec
to
r
r
ep
r
esen
tin
g
th
e
tr
an
s
latio
n
o
f
th
e
o
r
ig
in
o
f
th
e
ca
m
e
r
a
co
o
r
d
i
n
ate
s
y
s
tem
,
[
R
T
]
r
ep
r
esen
ts
th
e
tr
an
s
f
o
r
m
atio
n
b
etwe
en
th
e
ca
m
er
a
f
r
am
e
a
n
d
th
e
wo
r
ld
c
o
o
r
d
i
n
ate
s
y
s
tem
.
E
q
u
atio
n
(
1
)
ca
n
b
e
s
im
p
lifie
d
as
(
2
)
.
|
̅
|
=
Κ
⌈
R
Τ
⌉
|
P
̅
|
,
fur
the
r
c
a
n
be
s
imp
l
ifi
e
d
as
|
̅
|
=
Μ
|
P
̅
i
|
(
2
)
T
h
e
p
r
o
jectio
n
m
atr
ix
M
ca
n
b
e
esti
m
ated
b
y
d
etec
tin
g
p
o
in
t
co
r
r
esp
o
n
d
en
ce
with
p
i
=
[
u
,
v
,
1
]
T
b
ei
n
g
th
e
p
ix
el
p
o
s
itio
n
s
an
d
P
i
=
[
X,
Y,
1
]
T
b
ein
g
th
e
wo
r
ld
c
o
o
r
d
in
ates
o
f
t
h
e
co
r
r
esp
o
n
d
in
g
f
ea
tu
r
e
p
o
in
t
o
f
in
d
e
x
,
‘
i’
o
n
th
e
p
lan
ar
p
atter
n
o
r
ch
ec
k
e
r
b
o
a
r
d
.
I
n
o
r
d
er
to
elim
in
ate
th
e
s
c
alin
g
f
ac
to
r
,
cr
o
s
s
p
r
o
d
u
ct
o
f
ea
ch
ter
m
o
f
(
2
)
is
tak
en
as
(
3
)
.
̅
×
|
̅
|
=
p
̅
i
×
|
Μ
P
̅
i
|
,
s
in
c
e
c
r
oss
pr
od
uc
t
of
|
̅
×
̅
|
=
0
(
3
)
E
q
u
atio
n
(
3
)
ca
n
b
e
wr
itten
as
(
4
)
.
p
̅
i
×
|
Μ
P
̅
i
|
=
[
u
1
v
1
1
]
[
1
̅
2
̅
3
̅
]
(
4
)
E
q
u
atio
n
(
4
)
is
f
o
r
m
u
lated
as
(
5
)
.
[
0
i
T
−
P
i
−
T
v
i
P
i
−
T
P
i
−
T
0
i
T
−
u
i
P
i
−
T
−
vP
i
−
T
u
i
P
i
−
T
0
i
T
]
[
m
1
m
2
m
3
]
=
0
(
5
)
E
q
u
atio
n
(
5
)
is
in
t
h
e
f
o
r
m
o
f
AM
=
0
,
wh
er
e
A
is
a
3
×
9
m
at
r
ix
an
d
M
is
a
v
ec
to
r
with
r
o
w
-
wis
e
n
in
e
elem
en
ts
o
f
M.
T
h
e
AM
is
l
in
ea
r
in
M
an
d
h
as
two
lin
ea
r
ly
in
d
ep
en
d
en
t
eq
u
atio
n
s
i.e
.
,
o
n
e
r
o
w
ca
n
b
e
r
em
o
v
ed
.
R
em
o
v
in
g
th
e
th
i
r
d
r
o
w
o
f
(
5
)
,
th
e
f
o
llo
win
g
eq
u
atio
n
is
o
b
t
ain
ed
.
[
0
i
T
−
P
̅
i
T
v
i
P
̅
i
T
p
̅
i
T
0
i
T
−
u
i
P
̅
i
T
]
[
m
1
m
2
m
3
]
=
0
,
whe
r
e
M
=
[
m
1
m
2
m
3
m
4
m
5
m
6
m
7
m
8
m
9
]
(
6
)
E
q
u
atio
n
(
6
)
is
v
alid
f
o
r
all
h
o
m
o
g
e
n
eo
u
s
r
ep
r
esen
tatio
n
s
.
T
h
e
m
atr
ix
M
h
as
8
p
ar
am
ete
r
s
alo
n
g
with
a
9
th
h
o
m
o
g
en
eo
u
s
s
ca
lin
g
f
ac
to
r
.
T
o
s
o
lv
e
f
o
r
th
e
p
ar
a
m
eter
s
o
f
M,
a
s
u
f
f
icien
t
n
u
m
b
er
o
f
e
q
u
atio
n
s
ar
e
r
eq
u
ir
ed
.
Sin
ce
ea
ch
p
o
in
t
co
r
r
esp
o
n
d
e
n
ce
g
iv
es
r
is
e
to
two
eq
u
atio
n
s
(
o
n
e
f
o
r
th
e
x
-
co
o
r
d
in
ate
an
d
o
n
e
f
o
r
th
e
y
-
co
o
r
d
in
ate
)
,
y
o
u
n
ee
d
at
least
f
o
u
r
co
r
r
es
p
o
n
d
en
ce
s
(
8
e
q
u
ati
o
n
s
)
to
s
o
lv
e
f
o
r
th
e
8
p
ar
am
et
er
s
in
M.
Ho
wev
er
,
in
p
r
ac
tice,
m
o
r
e
co
r
r
esp
o
n
d
e
n
ce
s
ar
e
o
f
ten
u
s
ed
to
c
r
ea
te
a
n
o
v
e
r
-
d
eter
m
in
ed
lin
e
a
r
s
y
s
tem
.
T
h
is
r
e
d
u
n
d
an
c
y
h
elp
s
im
p
r
o
v
e
th
e
r
o
b
u
s
tn
ess
an
d
ac
cu
r
ac
y
o
f
th
e
s
o
lu
tio
n
b
y
m
in
im
izin
g
er
r
o
r
s
an
d
h
an
d
lin
g
o
u
tlier
s
m
o
r
e
ef
f
ec
tiv
ely
.
T
h
e
o
v
er
-
d
eter
m
in
e
d
eq
u
atio
n
s
ar
e
s
o
lv
ed
u
s
in
g
th
e
lin
ea
r
least
s
q
u
ar
e
tech
n
iq
u
e
to
d
eter
m
in
e
m
atr
ix
(
M)
.
T
h
e
c
o
m
p
lete
p
r
o
ce
d
u
r
e
is
o
u
tlin
ed
in
[
2
5
]
.
T
h
e
in
v
e
r
s
e
m
ap
p
in
g
m
atr
ix
(
)
ca
n
b
e
ca
lcu
lated
b
y
s
im
p
ly
tak
in
g
th
e
in
v
e
r
s
e
o
f
th
e
m
ap
p
i
n
g
m
atr
ix
(
M)
i.e
.
,
(
M
-
1)
.
E
q
u
atio
n
(
7
)
is
u
tili
ze
d
t
o
d
eter
m
in
e
an
y
wo
r
ld
p
o
in
t f
r
o
m
its
co
r
r
esp
o
n
d
in
g
i
m
ag
e
p
o
i
n
t.
(
)
=
P
(
i
m
ag
e
)
(
7
)
T
h
e
s
y
s
tem
co
n
s
is
ts
o
f
a
p
er
s
o
n
al
co
m
p
u
ter
(
PC
)
,
ca
m
e
r
a
,
r
ad
io
f
r
eq
u
en
c
y
(
R
F)
m
o
d
u
l
e,
co
lo
r
e
d
m
ar
k
er
s
,
an
d
an
AGV
as
s
h
o
wn
in
Fig
u
r
e
1
.
T
h
e
c
o
lo
r
ed
m
ar
k
er
s
ar
e
u
s
ed
f
o
r
s
tr
u
ctu
r
in
g
th
e
en
v
ir
o
n
m
en
t
as
p
er
th
e
r
e
q
u
ir
em
en
t.
T
h
e
ac
tu
atio
n
tim
e
is
d
eter
m
in
ed
b
y
r
e
co
g
n
izin
g
t
h
e
p
o
s
itio
n
s
o
f
t
h
e
co
lo
r
ed
m
a
r
k
er
s
in
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
13
,
No
.
4
,
Dec
em
b
er
20
24
:
3
9
1
-
4
0
0
394
b
o
th
th
e
im
ag
e
as
well
as
wo
r
ld
co
o
r
d
i
n
ate
s
y
s
tem
.
T
h
e
AGV
is
th
en
ac
tu
ated
f
o
r
a
s
p
ec
i
f
ied
tim
e
an
d
th
e
n
f
ee
d
b
ac
k
is
tak
e
n
th
r
o
u
g
h
v
is
u
al
in
f
o
r
m
atio
n
o
b
tain
e
d
f
r
o
m
t
h
e
ca
m
er
a.
Fig
u
r
e
1
.
E
x
p
er
im
e
n
tal
s
etu
p
l
ay
o
u
t
3.
CO
L
O
URE
D
M
ARK
E
R
R
E
CO
G
NIT
I
O
N
T
h
is
s
ec
tio
n
p
r
esen
ts
th
e
r
esu
l
ts
o
f
ac
q
u
ir
in
g
an
d
r
ec
o
g
n
izin
g
cir
cu
lar
m
a
r
k
er
s
o
f
co
lo
r
s
s
u
ch
as
r
ed
,
g
r
ee
n
,
an
d
b
lu
e
.
Ad
d
itio
n
ally
,
co
lo
r
ed
m
ar
k
e
r
s
o
f
s
h
ap
es lik
e
s
q
u
ar
e,
tr
ian
g
u
lar
,
an
d
cir
cu
la
r
m
ay
also
b
e
u
s
e
d
in
ex
p
e
r
im
en
tatio
n
s
.
T
h
ese
m
a
r
k
er
s
ar
e
p
lace
d
in
a
test
in
g
en
v
ir
o
n
m
e
n
t
wh
er
e
th
e
ca
m
er
a
is
f
itted
to
th
e
ce
ilin
g
.
I
n
itially
,
a
r
ed
co
lo
r
e
d
m
ar
k
er
o
f
a
cir
c
u
lar
s
h
ap
e
was
p
lace
d
in
th
e
m
ap
p
ed
e
n
v
ir
o
n
m
en
t.
Hig
h
-
q
u
ality
im
ag
es
ca
p
tu
r
ed
b
y
th
e
ca
m
er
a
ar
e
s
elec
ted
f
o
r
f
u
r
t
h
er
p
r
o
ce
s
s
in
g
in
MA
T
L
AB
u
s
in
g
an
im
ag
e
p
r
o
ce
s
s
in
g
alg
o
r
ith
m
.
T
h
e
o
r
ig
in
al
-
c
o
lo
r
ed
m
ar
k
er
s
an
d
th
eir
p
r
o
ce
s
s
ed
im
ag
es
ar
e
s
h
o
wn
in
Fig
u
r
e
s
2
an
d
3
.
T
h
e
b
lo
b
an
aly
s
is
tech
n
iq
u
e
is
u
s
ed
to
p
r
o
ce
s
s
R
GB
im
ag
es
to
d
etec
t
a
n
d
r
ec
o
g
n
ize
co
l
o
r
ed
m
ar
k
e
r
s
in
t
h
e
i
n
p
u
t
im
a
g
e.
Du
r
in
g
b
lo
b
a
n
aly
s
is
,
a
b
lo
b
is
a
r
e
g
io
n
th
at
h
as
a
v
alu
e
o
f
1
(
o
r
t
r
u
e
)
.
T
h
er
e
is
n
o
way
f
o
r
t
h
e
d
if
f
er
en
t
co
lo
r
b
lo
b
s
to
o
v
er
lap
in
th
e
b
in
a
r
y
im
a
g
e
an
d
th
er
ef
o
r
e,
o
n
ly
o
n
e
b
l
o
b
is
c
o
n
s
id
er
ed
e
v
en
th
o
u
g
h
b
lo
b
s
h
av
e
d
if
f
e
r
en
t
c
o
lo
r
s
.
T
h
e
co
m
p
lete
p
r
o
ce
s
s
o
f
o
b
jec
t
r
ec
o
g
n
iti
o
n
is
g
r
o
u
p
ed
in
to
f
o
u
r
o
p
er
atio
n
s
:
lab
elin
g
,
g
r
o
u
p
in
g
,
e
x
tr
ac
tin
g
,
an
d
m
atch
in
g
.
On
ce
a
s
et
o
f
r
eg
io
n
s
h
as
b
ee
n
id
e
n
tifie
d
,
t
h
e
p
r
o
p
e
r
ties
o
f
t
h
e
r
e
g
io
n
s
b
ec
o
m
e
th
e
in
p
u
t
to
th
e
h
ig
h
er
-
lev
el
p
r
o
ce
d
u
r
e
th
at
p
er
f
o
r
m
s
d
ec
is
io
n
-
m
ak
in
g
task
s
s
u
ch
as r
ec
o
g
n
itio
n
o
r
in
s
p
ec
tio
n
.
Fig
u
r
e
2
.
E
x
p
an
d
ed
v
iew
o
f
th
e
R
GB
an
d
g
r
ey
im
ag
e
o
f
s
am
p
le
r
ed
-
c
o
lo
r
ed
o
b
jects
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xp
erimen
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lts
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u
r
e
3
.
T
h
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co
n
n
ec
ted
c
o
m
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o
n
en
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b
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i
n
ar
y
im
a
g
e
T
h
e
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aly
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er
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o
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m
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e
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at
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a
s
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ed
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l
o
r
cir
c
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lar
m
ar
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er
with
a
wh
ite
b
ac
k
g
r
o
u
n
d
.
MA
T
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co
d
e
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d
ev
elo
p
ed
to
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er
f
o
r
m
b
lo
b
an
aly
s
is
o
n
th
e
g
iv
en
im
ag
e
.
T
h
e
ex
p
er
i
m
en
tal
r
esu
lts
o
f
b
lo
b
an
aly
s
is
ar
e
p
r
e
s
en
ted
s
tep
b
y
s
tep
in
Fig
u
r
e
4
.
Ma
r
k
er
s
o
f
th
e
s
am
e
co
lo
r
wi
th
d
if
f
er
e
n
t sh
ap
es
o
r
th
e
s
am
e
s
h
ap
e
with
d
if
f
er
en
t
co
lo
r
s
ca
n
also
b
e
u
s
ed
f
o
r
ex
p
er
im
e
n
tatio
n
.
T
h
e
m
ajo
r
s
tep
s
o
f
th
e
im
ag
e
p
r
o
ce
s
s
in
g
alg
o
r
ith
m
e
m
p
lo
y
e
d
in
e
x
p
er
im
e
n
tatio
n
a
r
e
s
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o
w
n
in
Fig
u
r
e
4
.
I
n
[
1
7
]
,
co
l
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r
ed
m
ar
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o
g
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itio
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tech
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Ho
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8
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%.
Fig
u
r
e
4
.
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in
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o
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ith
m
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A
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T
h
e
n
av
ig
atio
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a
n
d
p
ath
p
lan
n
in
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o
f
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AGV
g
iv
es a
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eliab
le
esti
m
atio
n
o
f
th
e
v
eh
icle'
s
p
o
s
itio
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d
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ac
cu
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ate
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k
s
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o
r
n
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ig
atio
n
m
a
p
[
1
4
]
.
T
h
e
a
p
p
r
o
a
ch
ad
o
p
ted
h
er
e
in
v
o
lv
es
d
ec
o
m
p
o
s
in
g
th
e
g
iv
e
n
p
ath
in
to
s
tr
aig
h
t
s
eg
m
en
ts
an
d
cir
cu
lar
cu
r
v
es
o
r
s
im
p
le
9
0
-
d
e
g
r
ee
tu
r
n
s
.
Ho
wev
er
,
s
u
ch
p
ath
s
ca
n
n
o
t
b
e
p
r
ec
is
ely
tr
ac
k
ed
d
u
e
t
o
d
is
co
n
tin
u
ities
in
cu
r
v
atu
r
e
at
tr
an
s
itio
n
p
o
in
ts
b
etwe
en
s
eg
m
en
ts
,
wh
ich
n
ec
ess
itate
in
s
tan
tan
eo
u
s
ac
ce
ler
atio
n
s
.
T
ak
in
g
in
to
ac
co
u
n
t
th
e
co
n
s
tr
ain
ts
o
f
im
ag
e
p
r
o
ce
s
s
in
g
,
p
o
s
itio
n
co
n
tr
o
l
o
f
th
e
AGV,
an
d
th
e
f
ield
o
f
v
iew
(
FOV)
o
f
th
e
en
v
ir
o
n
m
en
t
u
s
i
n
g
a
s
in
g
le
ca
m
er
a,
a
r
ea
l
-
tim
e
p
o
s
itio
n
an
d
p
ath
co
n
tr
o
l sy
s
tem
h
as b
ee
n
d
ev
el
o
p
ed
a
n
d
u
tili
ze
d
in
th
e
ex
p
er
i
m
en
tatio
n
s
an
d
f
o
r
c
o
r
r
ec
tio
n
s
.
T
h
e
ex
p
er
im
e
n
tatio
n
o
f
AGV
p
r
esen
ted
in
th
is
p
ap
er
co
n
s
id
er
s
th
e
p
o
s
itio
n
an
d
p
ath
c
o
n
tr
o
l o
f
AGV
o
n
s
tr
aig
h
t
p
ath
s
with
an
d
with
o
u
t
s
tatic
o
b
s
tacle
s
u
s
in
g
a
s
in
g
le
ca
m
er
a
as
a
s
en
s
o
r
an
d
c
o
n
tr
o
ller
.
I
n
a
s
tr
aig
h
t
p
ath
with
n
o
o
b
s
tacle
s
,
p
ath
p
l
an
n
in
g
is
s
im
p
le,
a
n
d
t
h
e
p
ath
is
co
n
v
er
ted
in
to
a
s
in
g
le
s
eg
m
en
t.
I
n
th
e
ca
s
e
o
f
a
s
tr
aig
h
t
p
ath
with
a
s
tatic
o
b
s
tacle
in
a
g
iv
e
n
p
at
h
,
t
h
e
to
tal
p
ath
n
ee
d
s
t
o
b
e
s
eg
m
e
n
ted
in
to
s
tr
aig
h
t
p
ath
s
an
d
9
0
-
d
eg
r
ee
tu
r
n
s
o
r
cir
cu
la
r
ar
cs.
T
h
en
,
th
e
tim
e
r
eq
u
ir
ed
to
co
v
er
t
h
e
g
iv
en
s
eg
m
en
t is d
eter
m
in
ed
.
As th
e
s
p
ee
d
o
f
th
e
AGV
is
p
r
ed
eter
m
in
ed
,
o
n
ly
th
e
s
eg
m
en
t
d
is
ta
n
ce
n
ee
d
s
to
b
e
ca
lcu
lated
,
eith
er
in
p
i
x
els
o
r
in
m
illi
m
eter
s
.
T
h
e
tim
e
r
e
q
u
ir
e
d
to
co
v
er
a
p
ar
ticu
lar
s
eg
m
e
n
t
is
ca
lcu
lat
ed
b
y
u
s
in
g
(
8
)
,
an
d
th
e
tim
e
r
eq
u
ir
ed
to
ex
ec
u
te
a
9
0
-
d
eg
r
ee
tu
r
n
is
ca
lcu
lated
b
y
u
s
in
g
(
1
0
)
.
1
=
1
1
,
2
=
2
2
,
3
=
3
3
,
…
…
…
…
.
.
,
=
(
8
)
E
q
u
atio
n
(
8
)
ca
n
b
e
s
u
m
m
ar
iz
ed
as
(
9
)
.
=
1
∑
=
1
(
9
)
As th
e
AGV
s
p
ee
d
is
ca
lib
r
ated
,
th
e
tim
e
r
e
q
u
ir
ed
to
tak
e
a
9
0
-
d
eg
r
ee
tu
r
n
is
ca
lcu
lated
u
s
in
g
(
1
0
)
.
=
∑
=
1
(
10
)
T
h
e
to
tal
tim
e
to
co
v
er
a
g
iv
en
p
ath
ca
n
b
e
ca
lc
u
lated
b
y
a
d
d
i
n
g
th
e
tim
es
o
b
tain
ed
f
r
o
m
(
9
)
an
d
(
1
0
)
.
T
h
e
AGV
with
d
if
f
er
en
tial
d
r
i
v
e
co
n
f
ig
u
r
atio
n
was
d
ev
elo
p
e
d
an
d
em
p
lo
y
ed
in
th
e
e
x
p
er
im
en
tatio
n
.
I
t
h
as
f
o
u
r
wh
ee
ls
,
o
u
t
o
f
wh
ich
two
r
ea
r
wh
ee
ls
ar
e
co
n
n
ec
ted
to
two
g
ea
r
ed
DC
m
o
to
r
s
o
f
th
e
s
am
e
s
p
ee
d
,
d
r
iv
e
n
in
d
ep
en
d
en
tly
,
an
d
th
e
f
r
o
n
t
t
wo
wh
ee
ls
ar
e
u
s
ed
o
n
l
y
f
o
r
b
alan
cin
g
p
u
r
p
o
s
es.
A
1
2
-
v
o
l
t
b
atter
y
is
u
s
ed
to
s
u
p
p
ly
th
e
r
eq
u
ir
e
d
v
o
ltag
e
an
d
cu
r
r
e
n
t.
4
.
1
.
AG
V
o
n str
a
i
g
ht
pa
t
h
T
o
test
th
e
p
er
f
o
r
m
a
n
ce
o
f
a
n
AGV
o
n
th
e
s
tr
aig
h
t
p
ath
,
tw
o
d
is
tin
ct
p
ath
co
n
d
itio
n
s
wer
e
test
ed
:
a
s
tr
aig
h
t
p
ath
with
n
o
s
tatic
o
r
d
y
n
am
ic
o
b
s
tacle
an
d
a
s
tr
aig
h
t
p
ath
with
a
s
tatic
o
b
s
tacle
.
I
n
ca
s
e
1,
t
h
e
AGV
was
te
s
ted
o
n
a
clea
r
,
u
n
o
b
s
tr
u
cted
s
tr
aig
h
t
p
ath
.
T
h
is
co
n
d
itio
n
s
er
v
ed
as
a
b
aselin
e
to
a
s
s
e
s
s
th
e
AGV’
s
b
as
ic
p
er
f
o
r
m
an
ce
,
i
n
clu
d
in
g
its
ab
ilit
y
to
m
ain
tain
a
s
tr
aig
h
t
tr
ajec
to
r
y
an
d
its
r
esp
o
n
s
iv
en
ess
to
co
n
tr
o
l
in
p
u
ts
wh
en
n
o
ex
ter
n
al
f
ac
to
r
s
ar
e
p
r
esen
t
.
I
n
ca
s
e
2,
s
tatic
o
b
s
tacle
s
we
r
e
p
lace
d
alo
n
g
th
e
s
tr
aig
h
t
p
a
th
.
T
h
ese
o
b
s
tacle
s
d
o
n
o
t
m
o
v
e
b
u
t r
e
q
u
ir
e
t
h
e
s
y
s
tem
to
d
etec
t th
e
o
b
s
tacle
s
,
a
n
AGV,
an
d
n
a
v
ig
ate
ar
o
u
n
d
t
h
em
.
4
.
1
.
1
.
Str
a
ig
ht
pa
t
h wit
h no
o
bs
t
a
cles
I
n
s
tr
aig
h
t
p
ath
p
la
n
n
in
g
with
n
o
o
b
s
tacle
s
in
th
e
p
ath
,
an
A
GV
(
with
a
r
ed
co
lo
r
ed
cir
c
u
la
r
m
ar
k
er
at
th
e
to
p
)
is
p
lace
d
at
th
e
s
tar
tin
g
p
o
s
itio
n
in
s
witch
ed
-
o
f
f
c
o
n
d
itio
n
.
An
o
th
er
m
ar
k
er
,
co
lo
r
e
d
r
ed
,
g
r
ee
n
,
o
r
b
lu
e
is
p
lace
d
at
th
e
g
o
al
(
en
d
)
p
o
s
it
io
n
a
s
in
Fig
u
r
e
5
(
a)
.
W
h
en
th
e
s
y
s
tem
s
tar
t
s
,
th
e
ca
m
er
a
ca
p
tu
r
es
th
e
f
ir
s
t
im
ag
e
an
d
s
u
b
s
eq
u
en
tly
,
th
e
im
a
g
e
i
s
p
r
o
ce
s
s
ed
in
MA
T
L
AB
an
d
th
e
in
itial
p
o
s
itio
n
s
o
f
th
e
AGV
an
d
e
n
d
p
o
s
itio
n
ar
e
d
eter
m
in
ed
.
T
h
e
p
o
s
itio
n
s
d
etec
ted
b
y
im
ag
e
p
r
o
ce
s
s
in
g
alg
o
r
ith
m
s
an
d
s
eg
m
e
n
ted
p
a
th
s
ar
e
d
ep
icted
in
Fig
u
r
e
5
(
b
)
.
T
h
ese
p
o
s
itio
n
s
ar
e
s
u
b
s
eq
u
en
tl
y
tr
an
s
f
o
r
m
ed
i
n
to
wo
r
l
d
co
o
r
d
in
ates
u
s
in
g
a
n
in
v
e
r
s
e
m
ap
p
i
n
g
m
atr
ix
(
)
to
c
o
m
p
a
r
e
th
e
ac
tu
al
p
ath
tr
a
v
eled
b
y
th
e
AGV
o
n
t
h
e
g
r
o
u
n
d
f
l
o
o
r
.
Fu
r
th
er
,
th
ese
p
o
s
itio
n
s
ar
e
also
u
tili
ze
d
to
g
en
er
ate
th
e
to
t
al
p
ath
an
d
to
ca
lcu
late
th
e
d
is
tan
ce
b
etwe
en
th
e
s
tar
tin
g
p
o
in
t
an
d
th
e
g
o
al
p
o
in
t,
b
o
th
in
t
h
e
im
ag
e
as we
ll a
s
in
th
e
wo
r
ld
c
o
o
r
d
i
n
ate
s
y
s
tem
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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I
n
t
J
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b
&
A
u
to
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I
SS
N:
2722
-
2
5
8
6
E
xp
erimen
ta
l res
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lts
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n
p
o
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itio
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n
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p
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n
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o
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u
to
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ted
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id
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ve
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m
esh
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n
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(
a)
(
b
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Fig
u
r
e
5
.
B
in
ar
y
im
ag
e
s
h
o
wi
n
g
(
a)
t
h
e
p
o
s
itio
n
s
o
f
s
tar
tin
g
an
d
g
o
al
p
o
in
t a
n
d
(
b
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th
e
s
eg
m
en
ted
p
ath
Usi
n
g
th
e
d
is
tan
ce
an
d
th
e
ca
lib
r
ated
AGV
s
p
ee
d
,
th
e
tim
e
r
eq
u
ir
ed
f
o
r
th
e
AGV
to
r
ea
c
h
th
e
g
o
al
p
o
in
t
is
ca
lcu
lated
.
Fo
llo
win
g
t
h
is
ca
lcu
latio
n
,
t
h
e
AGV
is
th
e
n
ac
tu
ated
f
o
r
th
at
d
u
r
atio
n
th
r
o
u
g
h
an
R
F
r
em
o
te
co
n
tr
o
l.
T
h
e
d
is
tan
ce
b
etwe
en
two
p
o
s
itio
n
s
is
d
eter
m
in
ed
b
y
u
s
in
g
(
1
1
)
in
im
ag
e
co
o
r
d
in
ates
(
p
ix
els)
an
d
in
wo
r
ld
co
o
r
d
in
ates
(
m
m
)
.
=
√
(
−
)
2
+
(
−
)
2
,
=
√
(
−
)
2
+
(
−
)
2
(
11
)
T
h
e
ac
tu
al
p
ath
tr
a
v
eled
b
y
th
e
AGV
d
u
r
in
g
test
in
g
an
d
th
e
p
r
ed
icted
p
at
h
u
tili
zin
g
ca
lib
r
ated
s
p
ee
d
d
u
r
in
g
a
g
iv
e
n
tim
e
d
u
r
atio
n
i
s
d
ep
icted
in
Fig
u
r
e
6
.
On
th
e
s
tr
aig
h
t p
ath
,
th
e
d
is
tan
ce
co
v
er
ed
b
y
th
e
AGV
in
th
e
wo
r
ld
co
o
r
d
in
ates
s
y
s
tem
a
n
d
th
e
ac
tu
al
d
is
tan
ce
m
ea
s
u
r
e
d
o
n
th
e
f
lo
o
r
ar
e
g
iv
en
in
T
ab
l
e
1
.
T
h
e
p
er
ce
n
tag
e
er
r
o
r
was f
o
u
n
d
to
b
e
2
.
4
1
%.
Fig
u
r
e
6
.
T
h
e
p
r
e
d
icted
an
d
ac
tu
al
p
ath
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
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2
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8
6
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er
20
24
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9
1
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4
0
0
398
T
ab
le
1
.
E
r
r
o
r
i
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d
is
tan
ce
m
ea
s
u
r
em
en
t f
o
r
s
tr
aig
h
t p
ath
D
i
st
a
n
c
e
i
n
p
i
x
e
l
s
D
i
st
a
n
c
e
i
n
m
c
a
l
c
u
l
a
t
e
d
u
si
n
g
i
n
v
e
r
se
ma
p
p
i
n
g
(
)
D
i
st
a
n
c
e
a
c
t
u
a
l
mea
s
u
r
e
d
i
n
m
e
t
e
r
s
Er
r
o
r
i
n
c
a
l
c
u
l
a
t
e
d
a
n
d
mea
s
u
r
e
d
d
i
s
t
a
n
c
e
me
t
e
r
s
P
e
r
c
e
n
t
a
g
e
e
r
r
o
r
1
8
3
1
.
2
6
8
7
1
,
3
0
0
0
.
0
3
1
3
2
.
4
1
4
.
1
.
2
.
Str
a
ig
ht
pa
t
h wit
h sta
t
ic
o
bs
t
a
cle
T
o
test
th
e
p
er
f
o
r
m
an
ce
o
f
an
AGV
o
n
a
s
tr
aig
h
t
p
ath
with
a
s
tatic
o
b
s
tacle
,
a
r
ed
-
co
lo
r
e
d
r
ec
tan
g
u
lar
o
b
ject
is
p
o
s
itio
n
ed
b
etwe
en
th
e
s
tar
tin
g
p
o
s
itio
n
an
d
th
e
en
d
p
o
s
itio
n
Up
o
n
s
y
s
tem
in
itializatio
n
,
th
e
f
ir
s
t
im
ag
e
ca
p
tu
r
e
d
b
y
th
e
ca
m
e
r
a
u
n
d
er
g
o
es
p
r
o
c
ess
in
g
u
s
in
g
an
im
ag
e
p
r
o
ce
s
s
in
g
alg
o
r
it
h
m
to
esti
m
ate
th
e
p
o
s
itio
n
s
o
f
th
e
s
tar
tin
g
p
o
in
t,
en
d
p
o
in
t,
an
d
o
b
s
tacle
in
th
e
im
ag
e
co
o
r
d
in
ate
s
y
s
tem
.
I
n
ad
d
itio
n
to
th
e
ce
n
tr
o
id
s
o
f
th
ese
p
o
s
itio
n
s
,
th
e
f
o
u
r
co
r
n
er
p
o
s
itio
n
s
o
f
t
h
e
r
ec
tan
g
u
lar
co
l
o
r
m
ar
k
er
(
o
b
s
tacle
)
ar
e
also
n
ec
ess
ar
y
,
as illu
s
tr
ated
in
Fig
u
r
es
7
(
a)
a
n
d
6
(
b
)
.
All
th
ese
p
o
s
itio
n
s
ar
e
in
itially
in
p
ix
els
an
d
ar
e
th
e
n
tr
a
n
s
f
o
r
m
ed
i
n
to
wo
r
ld
co
o
r
d
i
n
ates
u
s
in
g
th
e
in
v
er
s
e
m
ap
p
in
g
m
atr
ix
(
)
.
T
h
e
d
is
tan
ce
b
etwe
en
ea
ch
s
eg
m
en
t
an
d
th
e
ac
tu
atio
n
tim
e
r
eq
u
ir
ed
f
o
r
th
e
AGV
to
co
v
er
th
at
s
eg
m
en
t
is
ca
lcu
lated
.
T
h
e
to
tal
p
ath
is
d
iv
id
ed
in
to
d
if
f
er
en
t
s
eg
m
en
ts
as
d
ep
icted
in
Fig
u
r
e
7
(
b
)
,
c
o
m
p
r
is
in
g
s
tr
aig
h
t
s
eg
m
en
ts
an
d
ar
cs
o
f
r
ad
iu
s
‘
r
’
.
T
h
e
to
tal
ac
tu
atio
n
tim
e
is
th
e
s
u
m
o
f
th
e
tim
es
r
eq
u
ir
ed
f
o
r
th
e
AGV
to
co
v
e
r
th
e
h
o
r
izo
n
tal
d
is
tan
ce
,
n
av
i
g
ate
th
e
cu
r
v
e,
a
n
d
tr
av
er
s
e
th
e
v
er
tical
d
is
tan
ce
.
T
h
e
to
tal
ac
tu
atio
n
tim
e
r
eq
u
i
r
ed
f
o
r
AGV
to
co
v
er
all
s
eg
m
en
ts
an
d
r
ea
ch
th
e
g
o
al
p
o
i
n
t
wh
ile
av
o
id
in
g
th
e
o
b
s
tacle
is
ca
lcu
lated
u
s
in
g
(
1
0
)
an
d
(
1
1
)
.
Su
b
s
eq
u
en
tly
,
th
e
AGV
is
ac
tu
ated
f
o
r
t
h
e
ca
lc
u
lated
tim
e,
a
n
d
th
e
r
esu
ltin
g
p
o
s
itio
n
s
an
d
p
ath
s
a
ch
iev
ed
in
r
ea
l
-
tim
e
ar
e
p
r
esen
ted
in
Fig
u
r
e
8
.
(
a)
(
b
)
Fig
u
r
e
7
.
B
in
ar
y
im
ag
e
o
f
th
e
AGV
(
a)
th
e
in
itial,
g
o
al
,
a
n
d
co
r
n
er
p
o
s
itio
n
s
o
f
o
b
s
tacle
an
d
(
b
)
t
h
e
to
tal
p
ath
an
d
s
eg
m
en
ted
p
ath
s
with
tu
r
n
in
g
p
o
i
n
ts
Fig
u
r
e
8
.
Po
s
itio
n
s
an
d
p
ath
a
ch
iev
ed
b
y
th
e
AGV
in
r
ea
l ti
m
e
ap
p
licatio
n
f
o
r
s
tr
aig
h
t
p
at
h
with
s
tatic
o
b
s
tacle
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
E
xp
erimen
ta
l res
u
lts
o
n
p
o
s
itio
n
a
n
d
p
a
th
co
n
tr
o
l o
f a
n
a
u
to
ma
ted
g
u
id
e
d
ve
h
icle
…
(
R
a
m
esh
P
u
n
g
le
)
399
5.
CO
NCLU
SI
O
N
T
h
e
p
r
im
ar
y
o
b
jectiv
e
o
f
p
er
f
o
r
m
in
g
th
e
ex
p
er
im
e
n
tatio
n
was
to
u
tili
ze
a
s
in
g
le
o
f
f
-
b
o
ar
d
f
ix
ed
ce
ilin
g
ca
m
er
a
to
d
eter
m
in
e
th
e
p
o
s
itio
n
o
f
t
h
e
AGV,
en
d
p
o
s
itio
n
,
a
n
d
o
b
s
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s
in
th
e
m
a
p
p
ed
en
v
ir
o
n
m
e
n
t
an
d
t
h
en
to
co
n
tr
o
l
t
h
e
p
o
s
itio
n
a
n
d
p
ath
o
f
th
e
AGV
b
y
av
o
i
d
in
g
o
b
s
tacle
s
alo
n
g
a
s
tr
aig
h
t
p
ath
.
T
o
ac
h
ie
v
e
th
e
o
b
jectiv
es,
th
e
wo
r
k
was
d
i
v
id
ed
in
to
d
if
f
er
e
n
t
ar
ea
s
in
cl
u
d
in
g
h
ar
d
war
e,
s
o
f
twar
e,
en
v
ir
o
n
m
en
t
m
ap
p
in
g
u
s
in
g
th
e
ca
m
er
a,
o
b
ject
r
ec
o
g
n
itio
n
,
an
d
p
o
s
itio
n
an
d
p
ath
co
n
tr
o
l
o
f
AGV
o
n
th
e
p
at
h
s
th
at
ar
e
p
lan
n
ed
b
y
t
h
e
o
f
f
-
b
o
ar
d
ca
m
er
a.
T
h
e
ex
p
er
im
e
n
t
was
s
u
cc
ess
f
u
lly
p
er
f
o
r
m
ed
with
th
e
g
iv
en
co
n
s
tr
ain
ts
an
d
th
e
f
in
al
co
n
c
lu
s
io
n
s
ar
e
as f
o
llo
ws
.
First,
t
h
e
ef
f
icien
c
y
o
f
co
lo
r
e
d
m
a
r
k
er
d
etec
tio
n
an
d
r
ec
o
g
n
itio
n
was r
ec
o
r
d
ed
at
1
0
0
% f
o
r
d
ef
in
e
d
th
r
esh
o
ld
s
an
d
lig
h
tin
g
c
o
n
d
it
io
n
s
.
T
h
e
co
n
s
tan
t
-
s
p
ee
d
AG
V
was
test
ed
o
n
p
ath
s
s
u
ch
as
s
tr
aig
h
t
p
ath
s
with
an
d
with
o
u
t
s
tatic
o
b
s
tacle
s
.
Seco
n
d
,
t
h
e
d
ev
elo
p
ed
alg
o
r
ith
m
g
en
er
ated
v
eh
icle
p
ath
s
ac
co
r
d
in
g
to
th
e
n
o
d
e
p
o
s
itio
n
s
d
etec
ted
b
y
th
e
ca
m
er
a
u
s
in
g
im
ag
e
p
r
o
ce
s
s
in
g
,
b
o
th
in
th
e
i
m
ag
e
p
lan
e
a
n
d
th
e
wo
r
ld
p
lan
e.
T
h
e
to
tal
p
ath
was
s
eg
m
en
ted
,
an
d
s
eg
m
en
t
-
wis
e
ac
tu
atio
n
tim
es
wer
e
ca
lcu
lated
in
s
ec
o
n
d
s
.
T
h
e
AGV
was
th
en
n
av
ig
ated
alo
n
g
th
e
g
iv
e
n
p
ath
f
o
r
th
e
ca
lcu
lated
ac
tu
atio
n
tim
e.
Du
r
in
g
r
ea
l
-
tim
e
test
in
g
,
th
e
AGV
s
u
cc
es
s
f
u
lly
r
ea
ch
ed
th
e
en
d
p
o
s
i
tio
n
wh
ile
av
o
id
in
g
o
b
s
tacle
s
f
o
r
ea
ch
p
l
an
n
ed
p
ath
.
T
h
e
av
er
ag
e
er
r
o
r
in
r
ea
ch
in
g
th
e
en
d
p
o
s
itio
n
was
f
o
u
n
d
to
b
e
3
.
9
4
%
in
th
e
wo
r
ld
co
o
r
d
in
ate
s
y
s
tem
an
d
3
.
8
2
%
in
th
e
im
a
g
e
co
o
r
d
in
ate
s
y
s
tem
,
f
o
r
a
len
g
th
o
f
1
2
6
9
m
m
o
r
1
8
3
p
ix
els.
T
h
ir
d
,
t
h
e
r
ec
o
r
d
ed
p
o
s
itio
n
er
r
o
r
is
attr
ib
u
ted
to
f
ac
t
o
r
s
s
u
ch
as
ca
m
er
a
r
eso
lu
tio
n
,
u
n
c
er
tain
ties
in
im
ag
e
ca
p
tu
r
in
g
tim
e,
v
ar
iatio
n
s
in
lig
h
tin
g
co
n
d
itio
n
s
,
an
d
p
ix
els in
th
e
b
lo
b
ar
ea
.
Fo
u
r
th
,
i
n
th
e
r
ep
ea
tab
ilit
y
tes
t,
th
e
AGV
co
u
ld
r
ea
ch
a
g
iv
en
d
esti
n
atio
n
with
an
ac
c
u
r
a
cy
o
f
9
9
%.
Fin
ally
,
s
tr
u
ctu
r
in
g
a
n
d
e
n
v
ir
o
n
m
en
t
m
ap
p
in
g
ar
e
in
d
ee
d
cr
u
cial
s
tep
s
b
ef
o
r
e
au
to
m
ate
d
g
u
i
d
ed
v
e
h
icle
(
AGV)
n
av
ig
atio
n
.
T
h
er
ef
o
r
e,
it
is
ess
en
tial
to
in
v
est
tim
e
an
d
r
eso
u
r
ce
s
in
ac
cu
r
ately
m
ap
p
i
n
g
th
e
en
v
ir
o
n
m
en
t
b
ef
o
r
e
d
ep
lo
y
in
g
th
e
AGV
s
o
lu
tio
n
s
.
RE
F
E
R
E
NC
E
S
[
1
]
T.
-
J.
L
e
e
,
D
.
-
H
.
Y
i
,
a
n
d
D
.
-
I
.
C
h
o
,
“
A
mo
n
o
c
u
l
a
r
v
i
s
i
o
n
s
e
n
s
o
r
-
b
a
se
d
o
b
s
t
a
c
l
e
r
e
t
e
n
t
i
o
n
a
l
g
o
r
i
t
h
m
f
o
r
a
u
t
o
n
o
m
o
u
s
r
o
b
o
t
s,”
S
e
n
s
o
rs
,
v
o
l
.
1
6
,
n
o
.
3
,
M
a
r
.
2
0
1
6
,
d
o
i
:
1
0
.
3
3
9
0
/
s
1
6
0
3
0
3
1
1
.
[
2
]
G
.
N
.
D
e
s
o
u
z
a
a
n
d
A
.
C
.
K
a
k
,
“
V
i
s
i
o
n
f
o
r
m
o
b
i
l
e
r
o
b
o
t
n
a
v
i
g
a
t
i
o
n
:
a
s
u
r
v
e
y
,
”
I
EEE
T
ra
n
s
a
c
t
i
o
n
s
o
n
P
a
t
t
e
r
n
A
n
a
l
y
si
s
a
n
d
Ma
c
h
i
n
e
I
n
t
e
l
l
i
g
e
n
c
e
,
v
o
l
.
2
4
,
n
o
.
2
,
p
p
.
2
3
7
–
2
6
7
,
2
0
0
2
,
d
o
i
:
1
0
.
1
1
0
9
/
3
4
.
9
8
2
9
0
3
.
[
3
]
J.
G
e
u
n
K
i
m,
D
.
H
w
a
n
K
i
m,
S
.
K
w
u
n
Jeo
n
g
,
H
.
K
y
e
o
n
g
K
i
m
,
a
n
d
S
.
B
o
n
g
K
i
m
,
“
D
e
v
e
l
o
p
m
e
n
t
o
f
n
a
v
i
g
a
t
i
o
n
c
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
f
o
r
A
G
V
u
si
n
g
D
*
sea
r
c
h
a
l
g
o
r
i
t
h
m,”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
r
i
n
g
,
v
o
l
.
4
,
n
o
.
2
,
Jan
.
2
0
1
3
,
d
o
i
:
1
0
.
1
2
7
7
7
/
i
j
s
e
.
4
.
2
.
3
4
-
3
8
.
[
4
]
I
.
O
h
y
a
,
A
.
K
o
sak
a
,
a
n
d
A
.
K
a
k
,
“
V
i
s
i
o
n
-
b
a
sed
n
a
v
i
g
a
t
i
o
n
b
y
a
mo
b
i
l
e
r
o
b
o
t
w
i
t
h
o
b
st
a
c
l
e
a
v
o
i
d
a
n
c
e
u
si
n
g
si
n
g
l
e
-
c
a
mer
a
v
i
si
o
n
a
n
d
u
l
t
r
a
so
n
i
c
sen
si
n
g
,
”
I
EEE
T
r
a
n
sa
c
t
i
o
n
s
o
n
Ro
b
o
t
i
c
s
a
n
d
Au
t
o
m
a
t
i
o
n
,
v
o
l
.
1
4
,
n
o
.
6
,
p
p
.
9
6
9
–
9
7
8
,
1
9
9
8
,
d
o
i
:
1
0
.
1
1
0
9
/
7
0
.
7
3
6
7
8
0
.
[
5
]
G
.
P
a
r
e
k
h
,
M
.
S
k
u
b
i
c
,
O
.
S
j
a
h
p
u
t
e
r
a
,
a
n
d
J.
M
.
K
e
l
l
e
r
,
“
S
c
e
n
e
mat
c
h
i
n
g
b
e
t
w
e
e
n
a
ma
p
a
n
d
a
h
a
n
d
d
r
a
w
n
s
k
e
t
c
h
u
si
n
g
sp
a
t
i
a
l
r
e
l
a
t
i
o
n
s
,
”
i
n
Pr
o
c
e
e
d
i
n
g
s
2
0
0
7
I
EE
E
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
R
o
b
o
t
i
c
s
a
n
d
A
u
t
o
m
a
t
i
o
n
,
A
p
r
.
2
0
0
7
,
p
p
.
4
0
0
7
–
4
0
1
2
.
d
o
i
:
1
0
.
1
1
0
9
/
R
O
B
O
T.
2
0
0
7
.
3
6
4
0
9
4
.
[
6
]
H
.
H
u
a
n
d
D
.
G
u
,
“
La
n
d
mark
‐
b
a
s
e
d
n
a
v
i
g
a
t
i
o
n
o
f
i
n
d
u
s
t
r
i
a
l
m
o
b
i
l
e
r
o
b
o
t
s
,
”
I
n
d
u
st
r
i
a
l
Ro
b
o
t
:
A
n
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
,
v
o
l
.
2
7
,
n
o
.
6
,
p
p
.
4
5
8
–
4
6
7
,
D
e
c
.
2
0
0
0
,
d
o
i
:
1
0
.
1
1
0
8
/
0
1
4
3
9
9
1
0
0
1
0
3
7
8
8
7
9
.
[
7
]
S
.
P
a
n
z
i
e
r
i
,
F
.
P
a
sc
u
c
c
i
,
a
n
d
R
.
S
e
t
o
l
a
,
“
S
i
mu
l
t
a
n
e
o
u
s
l
o
c
a
l
i
z
a
t
i
o
n
a
n
d
ma
p
b
u
i
l
d
i
n
g
a
l
g
o
r
i
t
h
m
f
o
r
r
e
a
l
-
t
i
m
e
a
p
p
l
i
c
a
t
i
o
n
s,
”
I
FAC
Pro
c
e
e
d
i
n
g
s V
o
l
u
m
e
s
,
v
o
l
.
3
8
,
n
o
.
1
,
p
p
.
4
5
7
–
4
6
2
,
2
0
0
5
,
d
o
i
:
1
0
.
3
1
8
2
/
2
0
0
5
0
7
0
3
-
6
-
CZ
-
1
9
0
2
.
0
1
3
4
6
.
[
8
]
V
.
B
o
n
a
t
o
,
M
.
M
.
F
e
r
n
a
n
d
e
s,
a
n
d
E.
M
a
r
q
u
e
s,
“
A
smar
t
c
a
m
e
r
a
w
i
t
h
g
e
s
t
u
r
e
r
e
c
o
g
n
i
t
i
o
n
a
n
d
S
LA
M
c
a
p
a
b
i
l
i
t
i
e
s
f
o
r
m
o
b
i
l
e
r
o
b
o
t
s
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
9
3
,
n
o
.
6
,
p
p
.
3
8
5
–
4
0
1
,
J
u
n
.
2
0
0
6
,
d
o
i
:
1
0
.
1
0
8
0
/
0
0
2
0
7
2
1
0
6
0
0
5
6
5
4
6
5
.
[
9
]
A
.
J.
D
a
v
i
s
o
n
,
I
.
D
.
R
e
i
d
,
N
.
D
.
M
o
l
t
o
n
,
a
n
d
O
.
S
t
a
ss
e
,
“
M
o
n
o
S
LA
M
:
r
e
a
l
-
t
i
me
si
n
g
l
e
c
a
mera
S
LA
M
,
”
I
EEE
T
ra
n
sa
c
t
i
o
n
s
o
n
Pa
t
t
e
r
n
An
a
l
y
si
s
a
n
d
Ma
c
h
i
n
e
I
n
t
e
l
l
i
g
e
n
c
e
,
v
o
l
.
2
9
,
n
o
.
6
,
p
p
.
1
0
5
2
–
1
0
6
7
,
J
u
n
.
2
0
0
7
,
d
o
i
:
1
0
.
1
1
0
9
/
TPA
M
I
.
2
0
0
7
.
1
0
4
9
.
[
1
0
]
J.
-
H
.
S
h
i
m
a
n
d
Y
.
-
I
.
C
h
o
,
“
A
mo
b
i
l
e
r
o
b
o
t
l
o
c
a
l
i
z
a
t
i
o
n
u
si
n
g
e
x
t
e
r
n
a
l
su
r
v
e
i
l
l
a
n
c
e
c
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