Strategies Of Control Applied In Autonomous Guided Vehicles

Autonomous guided vehicles, called AGVs, are important components of factory automation and manufacture system integration that requires both technical and management skills. In this paper, an AGV prototype equipped with IR detectors and IR range sensors is programming to follow a route line on the floor and avoid some obstacles on the way. The motion of the experimental AGV is promote by two DC motor with build-in gearbox, working with simultaneous PWM control in closed-loop operation. This AGV is designed to operate in environments such as offices and shop floor, in order to carry light loads on flat surfaces and ramps with positive and negative inclination. Simulations tests with ADAMS® are compared with some experimental results in order to validate the model and the prototype approaches. Copyright © 2008 SAE International.Schraft, R.D., Mechatronics and Robotics for Service Applications Situation and Potentials Int. Conference of Mechatronics & Robotics, 1994, Proceedings, pp. 11-22Oboth, C., Batta, R., Karwan, M., Dynamic Conflict-Free Routing of Automated Guided Vehicles (1999) International Journal of Production Research, 37 (9), pp. 2003-2030Vis, I.F.A., Survey of Research in the Design and Control of Automated Guided Vehicle Systems (2006) European Journal of Operational Research, 170, pp. 677-709Wilson, J., (2004) Sensor Technology Handbook, p. 390. , Newnes, ISBN 0750677295Altenburg, J., Altenburg, U., (1999) Mobile Roboter, p. 260. , Carl Hanser Verlag, ISNB 3446211217Siegwart, R., Nourbakhsh, I.R., (2004) Introduction to Autonomous Mobile Robots, p. 321. , MIT Press, ISBN 026219502XShoval, S., Zeitounm, I., Lens, E., Implementation of a Kalman Filter in Positioning for Autonomous Vehicles, and its Sensitivity to the Process Parameters (1997) International Journal of Advanced Manufacturing Technology, 13, pp. 738-746Isermann, R., (2005) Mechatronic Systems Fundamentals, p. 624. , Springer, ISBN 1852339306Pacejka, H.B., Bakker, E., The Magic Formula Tyre Model (1992) Vehicle System Dynamics, 21, pp. 1-18Modi, S., (2002) Comparison of Three Obstacle Avoidance Methods for An Autonomous Guided Vehicle, p. 49. , University of Cincinnati, master TesisKuc, R., Viard, V.B., A Physically Based Navigation Strategy for Sonar-Guided Vehicles (1991) The International Journal of Robotics Research, 10 (75), pp. 74-8