Development of a Memory-Based Homing Algorithm Using a Tracking Camera for an Autonomous Cart

Transportation is a key sector in various fields and highly affects the efficiency of industries and other related organizations. Especially, in warehouses, the transport of goods from one point to another is dominated by manually operated carts or forklifts, which makes it labor-intensive work. In this paper, to reduce the burden of workers engaged in the transportation of goods and materials, a new memory-based system integrated into a wheeled robot was developed. It records a route previously taken through the use of a tracking camera and an IMU sensor. The saved motion trajectories are later used as a reference by the robot for its autonomous movement when carrying a burden. The developed system was confirmed through experiments by the developed hardware and software systems. As a result, a reasonable result was obtained when tested in an indoor environment.