Abstract
This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M) Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm x 270cm square) with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system’s control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS) as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.
Highlights
Numerous research in nonholonomic systems has been widely studied especially on designing autonomous and guided vehicle
As for example mecanum wheel that consists of rollers around the surface body of the wheel depending on the size of mecanum, the bigger size the more roller is assembled[1]
The systems consist of three main components; Direct Current (DC) motor controller, Radio Frequency (RF) remote controller, and four industrial grade DC motor
Summary
Numerous research in nonholonomic systems has been widely studied especially on designing autonomous and guided vehicle. Pan et al.[16] in their research used a dynamic control planning method for a vehicle steered without Global Positioning Systems(GPS) and unmanned operation in unidentified circumstances. This research and development have taken the initiative to involve on design and develop flexible heavy loaded vehicle named Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) (patent applied) for maneuvering in a confine area. A holonomic mechanism is applied in MHeLFAGV design as well as Mecanum wheels for flexibility moves. On the other hand, embedded omnidirectional module is developed to realize the designed motion vectors of omnidirectional movement of MHeLFAGV regarding each Mecanum wheel. Several experiments are done for waypoint and longitude/altitude verification as well as moving in the targeted warehouse
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