Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Fuzzy and Proportional Controls for Driving Control of Forklift AGV

퍼지와 비례 제어를 이용한 지게차 AGV의 주행제어

  • 김정민 (부산대학교 전자전기공학과) ;
  • 박정제 (부산대학교 전자전기공학과) ;
  • 전태룡 (부산대학교 전자전기공학과) ;
  • 김성신 (부산대학교 전자전기공학과)
  • Received : 2009.07.13
  • Accepted : 2009.09.30
  • Published : 2009.10.25
Download PDF
⟨ Previous Next ⟩

Abstract

This paper is represented to research of driving control for the forklift AGV. The related works that were studied about AGV as heavy equipment used two methods which are magnet-gyro and wire guidance for localization. However, they have weaknesses that are high cost, difficult maintenance according to change of environment. In this paper, we develop localization system through sensor fusion with laser navigation system and encoder, gyro for robustness. Also we design driving controller using fuzzy and proportional control. It considers distance and angle difference between forklift AGV and pallet for engaging work. To analyze performance of the proposed control system, we experiment in same working condition over 10 times. In the results, the average error was presented with 54.16mm between simulation of control navigation and real control navigation. Consequently, experimental result shows that the performance of proposed control system is effective.

본 논문은 지게차 AGV(autonomous ground vehicle)의 자율주행을 위한 제어 방법에 관한 연구이다. 기존에 개발된 지게차 AGV의 위치측정 방법으로는 자기-자이로 유도(magnet-gyro guidance) 방식과 유선 유도(wire guidance) 방법이 있지만, 유지보수에 대한 지속적인 노력과 비용문제가 있으며, 작업 환경의 변화에 따라 작업 환경을 재구성해야하는 단점이 있다. 따라서 본 논문에서는 외란에 강인하고 작업 환경 및 작업 내용의 변경에 유연한 시스템을 구축하기 위해 레이저 내비게이션 센서와 엔코더, 자이로 센서의 센서융합을 통한 위치측정 시스템을 개발하였다. 또한 팔레트를 하역 운송해야하는 지게차 AGV의 주행제어를 위해 팔레트와 지게차 AGV 사이의 거리 차와 각도 차를 바탕으로 퍼지 제어 및 비례 제어를 이용한 주행제어기를 설계하였다. 본 연구에서 제안한 지게차 AGV를 위한 제어 시스템의 성능 분석을 위해 물류 운송작업이 가능한 작업공간에서 동일한 하역 작업을 10회 반복 하였다. 그 결과, 시뮬레이션에 의해 생성된 경로와 실제 주행경로의 최대 평균 오차가 87.77mm를 가짐을 확인하였다.

Keywords

References

  1. A. Dogandzic, J. Riba, G. Seco, and A. Lee Swindle-hurst, 'Positioning and Navigation with Applications to Communications,' IEEE Signal Proc. Magazine, vol. 22, no. 4, pp. 10-11, 2005
  2. I. A. Vis, 'Survey of Research in the Design and Control of Automated Guided Vehicle Systems,' European Journal of Operational Research, vol. 170, no. 3, pp. 677-709, 2006 https://doi.org/10.1016/j.ejor.2004.09.020
  3. Le-Anh T, Koster, 'A review of design and control of automated guided vehicle system,' Eur J Oper Res, vol. 171, pp. 1-23, 2006 https://doi.org/10.1016/j.ejor.2005.01.036
  4. 김정민, 김연태, 김성신, '확장 칼만 필터를 이용한 로봇의 실내위치측정,' 한국지능시스템학회, vol.18, no. 5, pp. 706-7011, 2008
  5. Dirk de Bruin, 'Lateral Guidance of All-Wheel Steered Multiple-Articulated Vehicles,' Unpublished doctoral dissertation, 2001
  6. Crowley, J.(1985). 'Navigation for an intelligent mobile robot,' IEEE Journal of Robotics and Automation, JRAI(1), 31-41
  7. Majdi. M, Deldar. M, Barzamini. R, Jouzdani. J, 'AGV Path Planning in Unknown Environment Using Fuzzy Inference System,' 2006 1ST IEEE International Conference on E-Learning in Industrial Electronics, pp. 64-67, 2006
  8. Meng Wang, Liu. J.N.K, 'Fuzzy Logic Based Robot Path Planning in Unknown Environment,' Proceedings of International Conference on Machine Learning and Cybernetics, vol. 2, pp. 813-818, 2005
  9. 김정민, 허정민, 정승영, 김성신, '자율주행 장치를 위한 수정된 유전자 알고리즘을 이용한 경로계획과 특징 맵 기반 SLAM,' 한국지능시스템학회, vol. 19, no. 3, pp. 381-387, 2009
  10. Johann Borenstein, 'The OmniMate: A Guidewire-and Beacon-free AGV for highly Reconfigurable Applications,' International Journal of Production Research, vol. 38, no. 9, pp. 1993-2010, 2000 https://doi.org/10.1080/002075400188456
  11. Michael J. Caruso, Tamara Bratland, C. H. Smith and Rober Schneider, 'A New Perspective on Magnetic Field Sensing,' Sensor Magazine, Vol.15, No. 12, pp. 34-46, 1998
  12. Ching-Yao Chan, 'A System Review of Magnetic Sensing System for Ground Vehicle Control and Guidance,' California PATH Research Report, UCB-ITS-PRR-2002-20, 2002
  13. C. Y., Chan, and H. T., Tan, 'Evaluation of Magnetic as a Position Reference System For Ground Vehicle Guidance and Control,' California PATH Research Report, March, 2003
  14. Y. J., Ryoo, E. S., Kim, and Y. C., Lim 'Intelligent Positioning System for Magnetic Sensor Based Autonomous Vehicle,' SCIS & ISIS, 2004
  15. Yusong Pang, Lopez De La Cruz, A,; Lodewijks, G, 'Bipolar magnetic positioning system for automated guided vehicles,' Intelligent Vehicles Symposium 2008 IEEE, pp. 883-888, 2008

Cited by

  1. Sensor Fusion of Localization using Unscented Kalman Filter vol.21, pp.5, 2011, https://doi.org/10.5391/JKIIS.2011.21.5.667
  2. Study on Design of Mobile Robot for Autonomous Freight Transportation vol.23, pp.3, 2013, https://doi.org/10.5391/JKIIS.2013.23.3.202
  3. Magnetic Guidance Vehicle using Up-and-down Rotating Type Differential Drive Unit vol.24, pp.2, 2014, https://doi.org/10.5391/JKIIS.2014.24.2.123