• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.7 no.3
• /
• pp.37-42
• /
• 1998

The important parts of the developing AGV model are the fabrication of each part and the design technology of body frame. In the present day, design of the body frame depends on the experience of the industrial place. the systematic data need for the optimal design of the frame for the case of model change. In this study, the strength of the early stage AGV(Automatic guided vehicle) is examined with the 3-dimensional finite elemnt method. In order to verify the finite element results, the computed results are compared with the experimental data from the strain-gage output. A New model was designed by rmoving some parts of the early staged(roughyly designed) model and choosing the thickness change of the rectangular-pipes.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.391-393
• /
• 2005

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also. the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.6
• /
• pp.261-263
• /
• 2006

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of p reposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also, the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.13 no.4
• /
• pp.307-314
• /
• 2013

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2015.05a
• /
• pp.915-916
• /
• 2015

The main sensor of AGV is the guide sensor in order to detect the path, and the sensor consists of 8 or 16-magneto resistance devices arranged by with 10mm. In controlling the AGV posture by using the sensor, AGV is occurred left/right shaking frequently. So, for driving stability of AGV, An accuracy of the sensor should be improved. Therefore, this study proposed sensor signal processing method to improve accuracy of guide sensor, and implemented. The accuracy of sensor in experimentation showed 2.84[mm]. In designing the sensor for controlling AGV posture, the proposed method will be effective.

• Journal of Korea Society of Industrial Information Systems
• /
• v.25 no.2
• /
• pp.1-9
• /
• 2020

A smart factory is a key industrial application introduced by the 4^th industrial revolution. The automatic guided vehicle (AGV) is one of the technology realizing smart factory, but the development cost is high due to its early stage of technology. Although developing a low-cost AGV requires a lot of data, it has limited data acquisition capability because of the limited storage and the AGV movement. Hence, we propose a development environment using Bluetooth to collect data and design a lane detector. The proposed lane detector shows a high lane detection ratio regardless of light variation and a shade.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.9 s.174
• /
• pp.107-114
• /
• 2005

With the recent progress in flexible manufacturing systems (FMS) in industry, increasing attention has been given to Automatic Guided Vehicle (AGV) systems. An AGV is a self-powered unit for transporting materials between stations without needing to be controlled by an operator. Such a system has several sensors to recognize the external state, and it is designed to travel between stations automatically without external assistance. To manage each device automatically in real time it requires a distributed controller with a main computer as the host, as well as a number of micro-controllers. In this study, an AGV system with dual motor drive was constructed. A Pentium 4 personal computer was set up as the main host for the distributed control, and this communicated with other micro-controllers in the management of the motor. The speed of each motor was also controlled by a micro-controller.

• The Journal of Korea Robotics Society
• /
• v.5 no.2
• /
• pp.120-126
• /
• 2010

This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.151-151
• /
• 2000

The objective of this paper is to develop the new robust and adaptive control system against external environments as applying the probabilistic recognition which is one of the inherent properties of immune system, ability of learning and memorization, and regulation theory of immune network to the system under engineering point of view. In this paper, HIA(Humoral Immune Algorithm) PID controller using Neural Network Identifier was proposed to drive the autonomous guided vehicle(AGV) more effectively. To verify the performance of the proposed HIA PID controller, some experiments for the control of steering and speed of that AGV are performed.

• KIPS Transactions on Computer and Communication Systems
• /
• v.2 no.10
• /
• pp.427-436
• /
• 2013

In this paper, a method of moving path control of an automatic guided vehicle in an indoor environment through recognition of marker images using vision sensors is presented. The existing AGV moving control system using infrared-ray sensors and landmarks have faced at two critical problems. Since there are many windows in a crematorium, they are going to let in too much sunlight in the main hall which is the moving area of AGVs. Sunlight affects the correct recognition of landmarks due to refraction and/or reflection of sunlight. The second one is that a crematorium has a narrow indoor environment compared to typical industrial fields. Particularly when an AVG changes its direction to enter the designated furnace the information provided by guided sensors cannot be utilized to estimate its location because the rotating space is too narrow to get them. To resolve the occurrences of such circumstances that cannot access sensing data in a WSN environment, a relative distance from marker to an AGV will be used as fingerprinting used for location estimation. Compared to the existing fingerprinting method which uses RSS, our proposed method may result in a higher reliable estimation of location. Our experimental results show that the proposed method proves the correctness and applicability. In addition, our proposed approach will be applied to the AGV system in the crematorium so that it can transport a dead body safely from the loading place to its rightful destination.