# Approach and Fork Insertion to Target Pallet Based on Image Measurement Method

## TL;DR

This paper presents an improved method for an autonomous forklift to approach and insert forks into a pallet using image processing, tested in a simulated warehouse environment.

## Contribution

The novel contribution is the enhanced robustness of the approach-to-fork-insertion process in varying conditions using image measurement.

## Key findings

- The improved method enables stable operation of an autonomous forklift in a simulated warehouse.
- The system successfully handles pallet inclination and environmental variations.
- The approach was validated through experiments with an Autonomous Guided Forklift (AGF).

## Abstract

Previously, we proposed a navigation method based on image processing to move to the front of a pallet that can be detected in the field of view. We also proposed an image-processing method to estimate the inclination angle when the pallet is inclined at a pitch with respect to the running surface, such as a pallet loaded on a truck. In this study, we improved the robustness of the existing method so that the series of operations from approach to fork insertion can be realized stably without being affected by the environment. Furthermore, a series of operations from approach to fork insertion was realized by an automatic forklift (Autonomous Guided Forklift, AGF) in an indoor laboratory space simulating a warehouse.