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Soon Sil Park
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Engineering

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AGV Trajectory Control Based on Laser Sensor Navigation Thanh Luan Bui; Phuc Thinh Doan; Soon Sil Park; Hak Kyeong Kim; Sang Bong Kim
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (879.25 KB) | DOI: 10.12777/ijse.4.1.16-20

Abstract

Autonomous Guided Vehicle Systems (AGVs) are used to transport goods and products in manufacturing fields where navigation can be done in a structured environment. In order to track the given trajectory, a tracking control based on Lyapunov stability theory is introduced. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. To apply Lyapunov's theorem, the kinematic model of AGV is given. To recognize its position in indoor environment, in this paper, a laser sensor device NAV200 is used to detect the AGV position in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.[AGV Trajectory Control, Laser Sensor Navigation]
Moving Object Tracking and Avoidance Algorithm for Differential Driving AGV Based on Laser Measurement Technology Pandu Sandi Pratama; Sang Kwun Jeong; Soon Sil Park; Sang Bong Kim
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1044.176 KB) | DOI: 10.12777/ijse.4.1.11-15

Abstract

This paper proposed an algorithm to track the obstacle position and avoid the moving objects for differential driving Automatic Guided Vehicles (AGV) system in industrial environment. This algorithm has several abilities such as: to detect the moving objects, to predict the velocity and direction of moving objects, to predict the collision possibility and to plan the avoidance maneuver. For sensing the local environment and positioning, the laser measurement system LMS-151 and laser navigation system NAV-200 are applied. Based on the measurement results of the sensors, the stationary and moving obstacles are detected and the collision possibility is calculated. The velocity and direction of the obstacle are predicted using Kalman filter algorithm. Collision possibility, time, and position can be calculated by comparing the AGV movement and obstacle prediction result obtained by Kalman filter. Finally the avoidance maneuver using the well known tangent Bug algorithm is decided based on the calculation data. The effectiveness of proposed algorithm is verified using simulation and experiment. Several examples of experiment conditions are presented using stationary obstacle, and moving obstacles. The simulation and experiment results show that the AGV can detect and avoid the obstacles successfully in all experimental condition. [Keywords— Obstacle avoidance, AGV, differential drive, laser measurement system, laser navigation system].
Co-Authors Hak Kyeong Kim Pandu Sandi Pratama Phuc Thinh Doan Sang Bong Kim Sang Kwun Jeong Thanh Luan Bui