Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion

This article addresses the problem of determining the location of pallets carried by forklifts inside a warehouse, which are recognized thanks to an onboard Radio Frequency IDentification (RFID) system at the ultra-high-frequency (UHF) band. By reconstructing the forklift trajectory and orientation,...

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Autores principales:	Andrea Motroni, Alice Buffi, Paolo Nepa
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	Cyber-Physical System Industry 4.0 UWB sensor fusion tracking indoor Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/3d4df9e9916d4ba895c2702055bfdec9
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spelling	oai:doaj.org-article:3d4df9e9916d4ba895c2702055bfdec92021-11-25T16:33:02ZForklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion10.3390/app1122106072076-3417https://doaj.org/article/3d4df9e9916d4ba895c2702055bfdec92021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10607https://doaj.org/toc/2076-3417This article addresses the problem of determining the location of pallets carried by forklifts inside a warehouse, which are recognized thanks to an onboard Radio Frequency IDentification (RFID) system at the ultra-high-frequency (UHF) band. By reconstructing the forklift trajectory and orientation, the location of the pallets can be associated with the forklift position at the time of unloading events. The localization task is accomplished by means of an easy-to-deploy combination of onboard sensors, i.e., an inertial measurement unit (IMU) and an optical flow sensor (OFS), with a commercial ultra-wideband (UWB) system through an Unscented Kalman Filter (UKF) algorithm, which estimates the forklift pose over time. The proposed sensor fusion approach contributes to the localization error mitigation by preventing drifts in the trajectory reconstruction. The designed methos was at first evaluated by means of a simulation framework and then through an experimental analysis conducted in a large warehouse with a size of about 4000 m<sup>2</sup>.Andrea MotroniAlice BuffiPaolo NepaMDPI AGarticleCyber-Physical SystemIndustry 4.0UWBsensor fusiontrackingindoorTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10607, p 10607 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Cyber-Physical System Industry 4.0 UWB sensor fusion tracking indoor Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	Cyber-Physical System Industry 4.0 UWB sensor fusion tracking indoor Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Andrea Motroni Alice Buffi Paolo Nepa Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion
description	This article addresses the problem of determining the location of pallets carried by forklifts inside a warehouse, which are recognized thanks to an onboard Radio Frequency IDentification (RFID) system at the ultra-high-frequency (UHF) band. By reconstructing the forklift trajectory and orientation, the location of the pallets can be associated with the forklift position at the time of unloading events. The localization task is accomplished by means of an easy-to-deploy combination of onboard sensors, i.e., an inertial measurement unit (IMU) and an optical flow sensor (OFS), with a commercial ultra-wideband (UWB) system through an Unscented Kalman Filter (UKF) algorithm, which estimates the forklift pose over time. The proposed sensor fusion approach contributes to the localization error mitigation by preventing drifts in the trajectory reconstruction. The designed methos was at first evaluated by means of a simulation framework and then through an experimental analysis conducted in a large warehouse with a size of about 4000 m<sup>2</sup>.
format	article
author	Andrea Motroni Alice Buffi Paolo Nepa
author_facet	Andrea Motroni Alice Buffi Paolo Nepa
author_sort	Andrea Motroni
title	Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion
title_short	Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion
title_full	Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion
title_fullStr	Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion
title_full_unstemmed	Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion
title_sort	forklift tracking: industry 4.0 implementation in large-scale warehouses through uwb sensor fusion
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/3d4df9e9916d4ba895c2702055bfdec9
work_keys_str_mv	AT andreamotroni forklifttrackingindustry40implementationinlargescalewarehousesthroughuwbsensorfusion AT alicebuffi forklifttrackingindustry40implementationinlargescalewarehousesthroughuwbsensorfusion AT paolonepa forklifttrackingindustry40implementationinlargescalewarehousesthroughuwbsensorfusion
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Forklift Tracking: Industry 4.0 Implementation in Large-Scale Warehouses through UWB Sensor Fusion

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