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All Journal International Journal of Science and Engineering (IJSE)
Jeong Geun Kim
Department of Mechanical and Automotive Eng., Pukyong National University, Busan 608-739
Engineering

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Development of Navigation Control Algorithm for AGV Using D* search Algorithm Jeong Geun Kim; Dae Hwan Kim; Sang Kwun Jeong; Hak Kyeong Kim; Sang Bong Kim
International Journal of Science and Engineering Vol 4, No 2 (2013)
Publisher : Chemical Engineering Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (524.588 KB) | DOI: 10.12777/ijse.4.2.34-38

Abstract

In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. By using the laser scanner LMS-151 and laser navigation sensor NAV-200, the grid map is updated according to the changing of environment and obstacles. When the AGV finds some new map information such as new unknown obstacles, it adds the information to its map and re-plans a new shortest path from its current coordinates to the given goal coordinates. It repeats the process until it reaches the goal coordinates. This algorithm is verified through simulation and experiment. The simulation and experimental results show that the algorithm can be used to move the AGV successfully to reach the goal position while it avoids unknown moving and static obstacles. [Keywords— navigation control algorithm; Automatic Guided Vehicles (AGV); D* search algorithm]
Co-Authors Dae Hwan Kim Hak Kyeong Kim Sang Bong Kim Sang Kwun Jeong