Obstacle Avoidance Method For Automated Guided Vehicle (AGV)

Nashrul Adzim , Nashruddin (2009) Obstacle Avoidance Method For Automated Guided Vehicle (AGV). Project Report. UTeM, Melaka,Malaysia. (Submitted)

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Abstract

From the previous industrial training, author has been involved in automated guided vehicle (AGV) route construction. The interest of the AGV thus makes this report happened. This report is mainly consists of a study, research, and development of AGV programming and platform. The research starts with a literature review about obstacle avoidance for AGV from previous researcher, studies from related books and others. The development of AGV platform is done so that the obstacle avoidance method programming can be shown in real situation. Mainly, a robot development consists of three main parts: mechanical part, electrical and electronic part, and programming part. As for mechanical part is a chassis design, shaft design and any mechanical relevant part while for electronic part is a circuit design for sensor and motor driver. The development for the AGV platform is used machining process such as lathe, laser cutting, milling and non machining process such as fabrication. The electronic circuit had been constructed and then attached to a microcontroller which acts as the AGV’s main controller for the whole AGV movement. Programming was done using C Language for the AGV path planning and obstacle avoidance and it is based on rule-base expert system. The programme was compiled in a form of hex file and was downloaded inside the peripheral interface controllers (PIC). Thus AGV can move like autonomous robot and it will use all available sensors such as line following and obstacle sensors to detects any guide tape or obstacle. Rule-base system will be used as AGV decision making process. If it meets with any obstacle in its way it will execute the rule base system to avoid the obstacle.

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