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Localization for an unmanned forklift in a refrigerated warehouse

This paper presents a localization algorithm for an unmanned forklift in a refrigerated warehouse. At the begging, an unmanned forklift and its environment are described and its kinematic analysis is conducted. For navigation in such a cold environment, a localization algorithm of a forklift based on particle filters with odometry and two magnetic sensors is presented. Finally, a path planning algorithm based on A-star search is applied to tasks in a refrigerated warehouse. The usefulness of the proposed algorithms is verified through simulations.