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Safe Interaction of Automated Forklifts and Humans at Blind Corners in a Warehouse with Infrastructure Sensors

: Drabek, Christian; Kosmalska, Anna; Weiß, Gereon; Ishigooka, Tasuku; Otsuka, Satoshi; Mizuochi, Mariko

Postprint urn:nbn:de:0011-n-6406467 (470 KByte PDF)
MD5 Fingerprint: 7fc493ecfcf7dc736f4862821a0ff20a
Created on: 29.9.2021

Habli, Ibrahim (Editor):
Computer Safety, Reliability, and Security. 40th International Conference, SAFECOMP 2021. Proceedings : York, UK, September 8-10, 2021
Cham: Springer Nature, 2021 (Lecture Notes in Computer Science 12852)
ISBN: 978-3-030-83902-4 (Print)
ISBN: 978-3-030-83903-1 (Online)
ISBN: 978-3-030-83904-8
DOI: 10.1007/978-3-030-83903-1
International Conference on Computer Safety, Reliability and Security (SAFECOMP) <40, 2021, Online>
Bayerisches Staatsministerium für Wirtschaft, Landesentwicklung und Energie StMWi
Leistungszentrum Sichere intelligente Systeme
Conference Paper, Electronic Publication
Fraunhofer IKS ()
driverless industrial truck; blind corner; infrastructure sensor; warehouse; safety; vehicle automation; safety critical

Co-working and interaction of automated systems and humans in a warehouse is a significant challenge of progressing industrial systems’ autonomy. Especially, blind corners pose a critical scenario, in which infrastructure-based sensors can provide more safety. The automation of vehicles is usually tied to an argument on improved safety. However, current standards still rely on the awareness of humans to avoid collisions, which is limited at corners with occlusion. Based on the examination of blind corner scenarios in a warehouse, we derive the relevant critical situations. We propose an architecture that uses infrastructure sensors to prevent human-robot collisions at blind corners with respect to automated forklifts. This includes a safety critical function using wireless communication, which sporadically might be unavailable or disturbed. Therefore, the proposed architecture is able to mitigate these faults and gracefully degrades performance if required. Within our extensive evaluation, we use a warehouse simulation to verify our approach and to estimate the impact on an automated forklift’s performance.