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A path generation algorithm of an Automatic Guided Vehicle using sensor scanning method

  • Materials & Fracture · Solids & Structures · Dynamics & Control · Production & Design
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Abstract

In this paper, a path generation algorithm that uses sensor scannings is described. A scanning algorithm for recognizing the ambient environment of the Automatic Guided Vehicle (AGV) that uses the information from the sensor platform is proposed. An algorithm for computing the real path and obstacle length is developed by using a scanning method that controls rotating of the sensors on the platform. The AGV can recognize the given path by adopting this algorithm. As the AGV with two-wheel drive constitute a nonholonomic system, a linearized kinematic model is applied to the AGV motor control, An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Based on experimental results, the proposed algorithm that uses scanning with a sensor platform employing only a small number of sensors and a low cost controller for the AGV is shown to be adequate for path generation.

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Abbreviations

F 0 :

Global frame

F M :

AGV’s frame

r :

Radius of actuated wheel [m]

R :

Half the wheels’ axis length [m]

v :

AGV’s translation velocity [m/s]

x, y :

Coordinates of theF M

x p ,y p :

Coordinates of the pointF 0

x M ,y M :

Coordinates of the pointF 0

θ 1 :

Angular position of the right wheel [rad]

θ 2 :

Angular position of the left wheel [rad]

Ψ:

AGV’s orientation with respect to theF 0

d :

Length from the AGV to an object [m]

s :

Sensor coordinate

ob/M :

Coordinate of an object about the AGV

M :

The AGV Coordinate

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Authors and Affiliations

  1. Department of Precision Mechanical Engineering, Hanyang University, 425-791, Kyunggi-do, Korea

    Tong-Jin Park (Research assistant) & Jung-Woo Ahn (Research assistant)

  2. Department of Mechanical Engineering, Hanyang University, 425-791, Kyunggi-do, Korea

    Chang-Soo Han (Professor)

Authors
  1. Tong-Jin Park
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  2. Jung-Woo Ahn
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  3. Chang-Soo Han
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Correspondence to Chang-Soo Han.

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Park, TJ., Ahn, JW. & Han, CS. A path generation algorithm of an Automatic Guided Vehicle using sensor scanning method. KSME International Journal 16, 137–146 (2002). https://doi.org/10.1007/BF03185164

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  • DOI: https://doi.org/10.1007/BF03185164

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