Abstract
The industry is changing in order to improve the economy sector. This is the reason why technology is improving and developing new devices. The autonomous guided vehicle with free navigation is a new machine, which uses different techniques to move such as mapping, localization, path planning, and path following. In this paper, a path following is proposed. The path following is called moving to a point, which uses the proportional distance between the target and the autonomous guided vehicles (AGV) to calculate the velocity and direction. If some obstacles appear in the trajectory, however, the vehicle stops. Instead of stopping the machine, by using moving to a point logic, an obstacle avoidance function will be implemented. In this implementation, different parameters can be configured, such as: security distance, which determinates when the obstacle avoidance must correct the pose; and proportional values, which modify the velocity and steering commands. It is also compared to a dynamic window approach (DWA) obstacle avoidance solution. Additionally, the AGV navigates to a non-static target with a path following algorithm.
Highlights
Nowadays, the industry is changing its organizational structure
Companies will become more intelligent by using diverse techniques [1]
Moving point is the target for the autonomous guided vehicles (AGV) and it is a non-static point
Summary
The industry is changing its organizational structure. This change is known as Industry4.0, which is intended to improve the economy sector. The industry is changing its organizational structure. Companies will become more intelligent by using diverse techniques [1]. To make this possible, new programmable logic controller (PLC) devices will be introduced, which will transfer huge calculation and information capabilities, and will be used to introduce more robots in production lines etc. Apart from introducing new devices, there will be increased connectivity into the same information system. Production can be adapted to demand and become more efficient [2]. The aim is to have a greater production capability, better quality, and optimization in production resources
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