Sensors developed specially for this purpose are used to prevent collisions around automated guided vehicles which cannot be prevented by person detection systems. Protruding or low-handing objects cannot always be detected reliably due to the prescribed mounting height for 2D person detection systems near the ground. With additional 2D and multiple-layer LiDAR sensors for collision avoidance, objects not connected to the ground or which protrude into the side of the vehicle path are also detected. The Visionary-T 3D time-of-flight camera offers extensive options for collision avoidance. The camera measures a depth value for every pixel. All geometries in the field of view of the camera are represented as point clouds. All objects are therefore detected which penetrate into defined protected areas.