Safe Autonomous Transport Vehicles in Heterogeneous Outdoor Environments

  • Tobe Toben
  • Sönke Eilers
  • Christian Kuka
  • Sören Schweigert
  • Hannes Winkelmann
  • Stefan Ruehrup
Part of the Communications in Computer and Information Science book series (CCIS, volume 336)


Autonomous transport vehicles (AGVs) steadily gain importance in logistics and factory automation. Currently, the systems are mainly operating in indoor scenarios at limited speeds, but with the evolution of navigation capabilities and obstacle avoidance techniques, AGVs have reached a degree of autonomy that, from a technical perspective, allows their operation beyond closed work environments. The major hurdle to overcome is to be able to guarantee the required safety level for industrial applications. In this paper, we propose a general architecture for AGVs that formalizes the current safety concept and extends it to vehicles driving at higher speeds in outdoor environments. Technically, the additional safety level is achieved by integrating information from stationary sensors in order to increase the perception of the vehicles.


Trajectory Planning Mode Switch Obstacle Detection Safety Concept External Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Tobe Toben
    • 1
  • Sönke Eilers
    • 1
  • Christian Kuka
    • 1
  • Sören Schweigert
    • 1
  • Hannes Winkelmann
    • 1
  • Stefan Ruehrup
    • 1
    • 2
  1. 1.OFFIS e.V.OldenburgGermany
  2. 2.FTWViennaAustria

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