Abstract
The aim of the paper is to design and to develop a control system as well as a navigation system for an omnidirectional automated guided vehicle (AGV) that can be used to transport materials to the pre-determined target location automatically. Omnidirectional drive is employed in this work since it can move in an arbitrary direction continuously without changing orientation of the AGV. This capability is desirable for applications in congested environments. Two experiments were conducted. First, the navigation system based on line following was implemented to transport materials in the factory. Second, model predictive control was used to solve the path following problem of the omnidirectional AGV.
Highlights
The rated speed of DC gear motor was 250 rpm at 24 V DC and it was controlled by a RoboClaw 15A Motor Controller
The following experiments were conducted to show the effectiveness of our omnidirectional automated guided vehicle (AGV)
Obstacle avoidance is an important requirement when the free-path method is implemented
Summary
The architecture was modular and was broadly classified into two layers, i.e., the layer of AGV base and drive, and the layer of electronic systems. For AGV base and drive, four omni-wheel/DC gear motor assemblies were mounted directly to the AGV chassis. They were arranged 90q to each other. The rated speed of DC gear motor was 250 rpm at 24 V DC and it was controlled by a RoboClaw 15A Motor Controller. The selected shape was a square platform.
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