Control and path prediction of an automate guided vehicle

Butdee, Suthep, Suebsomran, Anan, Vignot, Frederic, & Yarlagadda, Prasad K. (2008) Control and path prediction of an automate guided vehicle. In Yarlagadda, Prasad K. & Gudimetla, Prasad V. (Eds.) 9th Global Congress on Manufacturing and Management, 12-14, November, 2008, Gold Coast, Australia.

View at publisher


In this paper a control strategy of Automate Guided Vehicle (AGV) is proposed. The vehicle movement controlled by an inboard PLC do not need physical guide. The vehicle has 3 wheels. The front wheel is used for steering and driving. The 2 rear wheels are free and equipped with 2 encoders. The strategy is based on 2 main purposes: the path is stored in the PLC memory and the vehicle displacement is calculated form the wheel rotation measurement. The comparison between the required path and the actual position of the AGV allow calculating deviation error. Function of this error, a correction strategy of driving speed and steering angle is applied in order to get a smooth and precise displacement. Mobile vehicles must know its position and orientation in order to movement to reach the goals precisely. We describe localization techniques for AGV that is based on the principle of Kalman Filtering (KF) algorithm estimation. This paper also addresses the problems of factory navigation and modeling with focus on keeping automatic travelling along the control path of the AGV. Position and orientation is measured by using encoder sensor on driving and steering axes. The control and localization systems are developed. Reference path and observation measurement are matched. To keep track of the matching result of both positions, the estimated position information used to update the vehicle’s position by using the Kalman Filtering (KF) algorithm. Test performance is verified with accurate positioning control by simulation and experimentation.

Impact and interest:

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

6,167 since deposited on 23 Feb 2009
394 in the past twelve months

Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 18204
Item Type: Conference Paper
Refereed: Yes
Keywords: Automated Guided Vehicle, Path Determination and Prediction, PID Controller
ISBN: 9780980582703
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2008 GCMM Board
Copyright Statement: Reproduced in accordance with the copyright policy of the publisher
Deposited On: 23 Feb 2009 23:54
Last Modified: 29 Feb 2012 13:46

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page