Skip to main content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.


The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Obstacle Detection and Avoidance from an Automated Guided Vehicle



Roger V. Bostelman, William P. Shackleford, Geraldine S. Cheok


Current automated guided vehicle (AGV) technology typically provides material handling flow along single or dual opposing-flow lanes in manufacturing and distribution facilities. An AGV stops for most any obstacle that may be in its path which then stops other AGVs behind it until the obstacle is removed. An alternative to serial AGV flow is to provide parallel flow in particular areas, such as buffer zones and appropriate lanes where a stopped AGV can be passed by other AGVs. This paper describes two obstacle detection and avoidance (ODA) methods developed, demonstrated, and the performance of an industrial AGV with its stock controller and an added high-level planning algorithm was measured by a laser tracker. These methods will allow current, off-the-shelf AGVs to advance towards unstructured environment navigation.
Proceedings Title
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference Dates
September 14-18, 2014
Conference Location
Chicago, IL


automated guided vehicle (AGV), obstacle detection and avoidance, ANSI/ITSDF B56.5, traffic flow, algorithm, material handling
Created September 18, 2014, Updated February 19, 2017