IEEE Robotics & Automation Magazine - June 2020 - 141

system that integrates the vision information and laser data to
fulfill the robust detection and accurate tracking requirements.
Advanced Sensing and Control System
As shown in Figure 1(a), we developed a sensor system to
achieve robust perception and accurate localization functions.
An Ouster OS1-64 laser (120-m range) mounted on the top
allows for collecting surrounding 3D point cloud data, and
two wide-angle, high-resolution cameras (1,920 # 1,200 resolution) are utilized to collect visual information in both the
front- and rear-view images. Real-time kinematic GPS, inertial measurement units (IMUs), and external encoders are
used to generate real-time odometry information (100-Hz
frequency) using an extended Kalman filter (EKF)-based data
fusion approach. In addition, a 2D safety laser is equipped on

the front of the vehicle to eliminate sensing blindness and
avoid obstacles on the ground.
The hardware architecture of the proposed vehicle is shown
in Figure 2. A long-range-based wireless communication network is built to assign transportation tasks to vehicles, obtain
on-site information, monitor vehicle status, and achieve
remote control in any emergency. As shown in shown in Figure 3, the core control system includes the high-level system
run in an industry computer with the Robot Operating System
[host industrial PC (IPC), Nuvo-6108G, GTX-2080Ti GPU]
and the low-level system run in the programmable logic controller (PLC) with the real-time operating system. The highlevel system receives tasks from the task planning system/local
human-machine interface (HMI) and generates global paths
by searching the route map. In the meantime, it updates the

3D Laser
Front-View Camera

Rear-View Camera

IMUs

GPS Antenna

Controller

2D Laser
Encoder
(a)

(b)

(c)

Figure 1. Application scenarios for autonomous transportation: (a) an autonomous industrial vehicle and its sensor system;
(b) autonomous cargo transportation; and (c) large-scale industrial environments with sparse static structured information, a large
number of dynamic objects, and varied weather and illumination conditions. IMUs: inertial measurement units.

JUNE 2020

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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IEEE Robotics & Automation Magazine - June 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2020

Contents
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