Design and Control of Automated Guided Vehicle

Abstract:

Autonomous Guided Vehicles (AGV) have the ability to operate on their own, perform tasks without human intervention. However, the investment cost is very high, so it is not suitable for countries with cheap workers like Vietnam. Therefore, this article will aim to build a complete AGV model that can move to the given coordinates. Model of AGV is 6-wheeled vehicles driven by 4 engines with the advantage of good movement in soft terrain, subsidence, ruggedness, slope, easy to balance and limit the vibration. Furthermore, we propose a method to improve the quality of the traditional A* algorithm by eliminating unnecessary intermediate points, which is Shortcut Path Reduction (SPR). Experimental results show that the vehicle can perform the bending technique, following straight lines and broken lines. Besides, the SPR not only met the requirements but also reduced the length of the journey.

• Periodical: Applied Mechanics and Materials (Volume 902)
• Pages: 33-42
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.902.33
• Online since: September 2020
• Authors: Quang Ha Pham, Ngoc Huy Tran*, Thien Phuong Ton
• Keywords: A^∗, Automatic Guided Vehicle (AGV), Autonomous Guided Vehicle, Autonomous Vehicle, Path Planning, SPR

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