AGV guidance by fiberoptic tactility

In order to increase the tactile sensing range and allow larger AGV speeds that result in larger vehicle stopping distances, the recently reported fibreoptic `curvature gauges' sensitized to their geometric curvature are arranged in loops around the AGV. When the AGV is driven into other objects (obstacles), these loops deform, resulting in the change of their curvature - which is registered. While many different types of bumpers and whiskers have been used in the past for a similar purpose, the key difference here is that no intermediate mechanical elements are employed to either transfer the impact loads onto the sensitive element or provide compliance to it. Optical fibres themselves provide both functions simultaneously. As a result, tactility is achieved within a comparatively large range extending over 10 cm. Throughout this range, virtually no reaction forces are generated with the impacting body. The range mentioned is on top of the one provided by the more traditional elastic bumper the optical fibres are mounted on.