Autonomous Guided Vehicle for the local market
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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
Uva Wellassa University of Sri Lanka
Abstract
Autonomous transport vehicle for factory with auto charging dock-using
Proportional, Integral and Derivative (PID) controlling falls under the autonomous
guided vehicle (AGV). The intention of this research is to develop fully functional
AGV with added functions like battery level indication, automatic docking,
intelligent steering drive method using (PID), low-cost ect. Furthermore, this project
aims to implement the PID algorithm, control the movement of the AGV by proper
tuning of the control parameters, an optimized drive system to suit with the rough
industrial environment, the affordable price tag for Sri Lankan market and deliver
better performance. AGV mainly used magnetic line following method and the
vehicle battery is charged automatically in specific charging dock (charging area). A
PLC is used control of the AGV and implement PID algorithms for motor speed
control, which governs the robot to smoothly travel along the line. Drive system used
brushless direct current motors (BLDC) with the embedded gearbox. This BLDC
motor and gearbox combination gives more robust operation compare to chain drive
system. An 8-bit magnetic sensor used as the main sensor for the navigation. The end
product of this research is to build up "mouse" type affordable AGV platform which
can use in Sri Lanka Industries. Future developments will be focused to change the
magnetic based guidance system to vision based guidance system and an auto
charging system.
Keywords.- PID, AGV, BLDC, Dock
Description
Keywords
Mechanical Engineering, Information System