Article Per Year (5 Year)
p-Index From 2021 - 2026
0.23
P-Index
This Author published in this journals
All Journal Control Systems and Optimization Letters
Hang-Ri Nguyen
Ho Chi Minh City University of Technology and Engineering (HCM-UTE)
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
PLC-Based Trajectory Control of an Omnidirectional Mecanum-Wheel AGV Using Visual–Inertial Tracking and Grid-Based A* Path Planning Binh-Hau Nguyen; Hang-Ri Nguyen; Phuoc-Duy Nguyen; Trung-Kien Pham; Dang-Khoa Tran; Quoc-Trung Nguyen; Tu-Duc Nguyen; Thi-Ngoc-Thao Nguyen; Thi-Ngoc-Hieu Phu; Hoang-Lam Le; Hoang-Phuc Le; Cong-Tan Bien
Control Systems and Optimization Letters Vol 4, No 2 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v4i2.318

Abstract

This paper presents a PLC-based omnidirectional Automated Guided Vehicle (AGV) using four Mecanum wheels for indoor material transportation. The system integrates a Mitsubishi Q-series PLC for motion execution, an Intel RealSense T265 visual–inertial camera for relative pose tracking, and a Python-based supervisory interface running on a laptop. The AGV operates in a known static workspace represented by a predefined grid map, where each cell corresponds to 0.1 m in the real environment. Static obstacles, pickup points, and drop-off points are manually defined before operation. The A* algorithm generates collision-free waypoint paths, which are converted into wheel velocity commands through the inverse kinematic model and transmitted to the PLC via Ethernet-based MC-Protocol. Experimental tests at a commanded speed of 0.2 m/s show that the prototype can perform eight-directional motion and complete predefined pickup–delivery tasks. The main limitations include tracking drift of the T265 camera, lighting sensitivity, wheel slippage on tiled floors, and communication latency. Future work will focus on sensor fusion, real-time obstacle detection, and fail-safe mechanisms.
Co-Authors Binh-Hau Nguyen Cong-Tan Bien Dang-Khoa Tran Hoang-Lam Le Hoang-Phuc Le Phuoc-Duy Nguyen Quoc-Trung Nguyen Thi-Ngoc-Hieu Phu Thi-Ngoc-Thao Nguyen Trung-Kien Pham Tu-Duc Nguyen