A Precision Control of an Automatic Guided Vehicle Using Double Landmark Recognition in a Crematorium

Abstract:

We deal with the problem of moving control of an automatic guided vehicle (AGV) in a specific environment, that is, a crematorium which has a narrow indoor environment. In such an environment, an AGV itself can transport a dead body to a designated furnace safely. A well-known method of burying guided lines under the floor is not proper to such an environment because its floors are made of expensive materials, i.e., marbles, and thus it has no flexibility. In this paper a new method of precision control of the AGV using infrared ray sensors is presented. With this approach, the AGV itself emits infrared rays to the landmarks adheres to the ceiling to obtain a moving direction and then moves to that direction by correctly recognizing them. One of the typical problems in a crematorium is that dead zone and overlapping zone may exist due to radiation and reflection of lights. To resolve this, an algorithm of recognizing double landmarks is applied to reduce its sensing errors. In addition, when the AGV changes its direction to enter the furnace, a precision control of the wheel moving trajectories of the AGV under acceleration and velocity constraints should be needed. Our proposed method formulates and simulates the desired trajectory of the AGV and then modifies it to compensate delay dynamics and vibration. The effectiveness of the proposed method was demonstrated in a real crematorium.

• Periodical: Applied Mechanics and Materials (Volumes 278-280)
• Pages: 1537-1540
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.278-280.1537
• Online since: January 2013
• Authors: Hye Gyeong Jeon, Youn Sik Hong
• Keywords: Automatic Guided Vehicle, Crematorium, Infrared Ray, Landmark, Position Tracking, RTLS

References

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DOI: 10.4218/etrij.07.0106.0066