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1
Kotkar, Geeta R. "Automated Guided Vehicle." International Journal for Research in Applied Science and Engineering Technology 13, no. 6 (2025): 525–31. https://doi.org/10.22214/ijraset.2025.71864.
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Abstract: Automated Guided Vehicles (AGVs) are autonomous robots designed to navigate structured environments using sensory and control systems. This paper presents the design and development of a line-following AGV, incorporating infrared sensors, ultrasonic sensors, and a microcontroller-based control system. The AGV is capable of detecting and following a predefined path while dynamically adapting to obstacles and environmental variations. The study explores key technologies, including sensor fusion, path-planning algorithms, and proportional-integral-derivative (PID) control, to enhance navigation accuracy. The implementation of AGVs in industrial automation, logistics, and commercial applications highlights their efficiency in reducing manual labor and improving material handling processes. Despite challenges in unstructured environments, advancements in artificial intelligence, machine learning, and real-time path adjustment are enhancing AGV adaptability. This research contributes to the growing field of autonomous robotics by addressing AGV limitations and exploring future trends in automation and intelligent transportation systems
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Zimmer, Domagoj, Luka Šumanovac, Mladen Jurišić, Arian Čosić, and Pavao Lucić. "Automatically Guided Vehicles (AGV) in Agriculture." Tehnički glasnik 18, no. 4 (2024): 666–72. http://dx.doi.org/10.31803/tg-20230517113905.
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In this paper, new types of autonomous systems used in agriculture were analysed. The paper shows new self-guiding systems such as AGVs with full autonomy in degrees operation. It explains internal transport and systems of autonomous vehicles in outdoor agriculture. New autonomous systems used outside such as appliance of special navigation systems and their purpose in agriculture are present in this work. Navigation systems with GPS signal and RTK technology, vehicle guidance camera and AI machine vision for manipulation are described. Light and laser technologies for fully autonomous robotic technologies such as LiDAR system in vehicle for detection of the presence of pests and diseases are presented in this paper. The paper emphasized advantages of using AGVs as result of their autonomy, clean power sources without harmful impact on the environment. Navigation in indoor spaces that uses LTE Direct protocol is explained, whereby the Wi-Fi ceiling antenna and wireless APP for horizontal movement of AGVs is shown. The ways of using UAVs for warehouse inventory through web applications with an advanced navigation system guided by AI are given in this work.
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Tubis, Agnieszka A., Honorata Poturaj, and Anna Smok. "Interaction between a Human and an AGV System in a Shared Workspace—A Literature Review Identifying Research Areas." Sustainability 16, no. 3 (2024): 974. http://dx.doi.org/10.3390/su16030974.
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Background: This article presents the results of a literature review from 2018 to 2023, which focused on research related to human and AGV system cooperation in a shared workspace. This study defines AGV systems as systems using Automated Guided Vehicles or Autonomous Guided Vehicles. An Automated Guided Vehicle is a cart that follows a guided path, while an Autonomous Guided Vehicle is an Automated Guided Vehicle that is autonomously controlled. The analyses conducted answered two research questions: (RQ1) In what aspects are the human factor examined in publications on the implementation and operation of AGV systems? (RQ2) Has the human-AGV collaboration aspect been analyzed in the context of a sustainable work environment? Methods: The literature review was conducted following the systematic literature review method, using the PRISMA approach. Results: Based on the search of two journal databases, according to the indicated keywords, 1219 documents pertaining to the analyzed issues were identified. The selection and elimination of documents that did not meet the defined criteria made it possible to limit the number of publications to 117 articles and proceedings papers. On this basis, the authors defined a classification framework comprising five basic research categories and nine subcategories. The analyzed documents were classified, and each distinguished group was characterized by describing the results. Conclusions: The development of a two-level classification framework for research from the analyzed area according to the assumptions of the concept map and the identification of research gaps in the area of human-AGV interaction.
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Kang, Woo-Yong, Eun-Sung Lee, Jeong-Won Kim, Moon-Beom Heo, and Gi-Wook Nam. "Steering Performance Test of Autonomous Guided Vehicle(AGV) Based on Global Navigation Satellite System(GNSS)." Journal of the Korean Society for Aeronautical & Space Sciences 38, no. 2 (2010): 180–87. http://dx.doi.org/10.5139/jksas.2010.38.2.180.
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Solichudin, Triwiyatno Aris, and A. Riyadi Munawar. "Conflict-free dynamic route multi-agv using dijkstra Floyd-warshall hybrid algorithm with time windows." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 4 (2020): 3596–604. https://doi.org/10.11591/ijece.v10i4.pp3596-3604.
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Autonomous Guided Vehicle is a mobile robot that can move autonomously on a route or lane in an indoor or outdoor environment while performing a series of tasks. Determination of the shortest route on an autonomous guided vehicle is one of the optimization problems in handling conflict- free routes that have an influence on the distribution of goods in the manufacturing industry's warehouse. Pickup and delivery processes in the distribution on AGV goods such as scheduling, shipping, and determining the route of vehicle with short mileage characteristics, is very possible to do simulations with three AGV units. There is a windows time limit on workstations that limits shipping. The problem of determining the route in this study is considered necessary as a multi-vehicle route problem with a time window. This study aims to describe the combination of algorithms written based on dynamic programming to overcome the problem of conflict-free AGV routes using time windows. The combined approach of the Dijkstra and Floyd-Warshall algorithm results in the optimization of the closest distance in overcoming conflict-free routes.
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Senanayake, Hasitha M. B., Olaitan Akinsanmi, and Muhammed Bashir Mu’azu. "An Experimental Autonomous Path Tracking Mobile Robot." Advanced Materials Research 62-64 (February 2009): 181–86. http://dx.doi.org/10.4028/www.scientific.net/amr.62-64.181.
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Autonomous Vehicular Navigation poses interesting challenges and, Automatically Guided Vehicle (AGV) Path Tracking presents an important notion in real-time Mechatronics applications. This paper describes the design of a Path Tracking Automatically Guided Vehicle that is capable of autonomously navigating a predefined path on a level navigating plane and, the designed AGV successfully completed a 3.42 meter test course in precisely 2 minutes 16 seconds. The AGV comprises a PIC16F84A microcontroller utilized as an embedded controller and, an array of Infrared reflective optical sensors to enable path detection and tracking. Among the primary objectives of the design that were achieved was to design the low-cost mobile robot from component parts sourced locally, from within Nigeria.
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Dr., A. K. Madan, Kumar Bavoria Rehan, and Vaibhav. "Improvement in the security systems of AGV to prevent GPS spoofing." International Journal of Research in Aeronautical and Mechanical Engineering 9, no. 11 (2021): 32–51. https://doi.org/10.5281/zenodo.5702885.
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Autonomous Guided Vehicles (AGV’s) are one of the critical enabling engineering marvel technologies of today, developed for manufacturing ease. They are used to do dangerous, and a few impossible works that cannot be done by humans. This paper will focus on the changes to be made in the Security systems of a GPS enabled Automated Guided Vehicle to prevent any kind of Data breaches or interferences in the GPS signals which could lead to a false signal location to the receiver, which is known as GPS spoofing, as well as Improvement in the AI (ARTIFICIAL INTELLIGENCE) making an autonomous guided vehicle a voice automated guided vehicle. As defined in the paper later that AGV’s today are mostly track bound, which comes with its limitations. So, an AGV with a GPS-controlled motion will be able to move freely without any constraints, meaning more work could be done out of them. This paper works on this futuristic approach and its problems related to GPS spoofing which could lead to hazardous outcomes. And providing a voice-enabled microcontroller means ease of accessibility of this freely moving AGV doing its job just as an employee in a manufacturing plant. This paper aims to evoke discussion and elucidate the current research opportunities in the field of AGV’s and to identify various problems in the security systems linked with an AGV and, suggest improvision.
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S.A., Ávila-Martínez, Martínez Romo J.C., Luna Rosas F.J., Rodríguez-Díaz R. M.A., Mendoza-González, and Rodríguez-Martínez L.C. "Fusing Optimal Odometry Calibration and Partial Visual Odometry via A Particle Filter for Autonomous Vehicles Navigation." International Journal of Engineering Research & Science 7, no. 6 (2021): 08–13. https://doi.org/10.5281/zenodo.5045049.
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<strong>Abstract</strong><strong>—</strong> Autonomous vehicles are increasingly becoming ubiquitous in the 21st century; they find application in agriculture, industry, airplanes, cars, service robotics, and others; in order to display autonomous guidance, a vehicle needs to estimate its position and orientation relative to an arbitrary coordinate system; to do so, several sources of information can be used, including images, global positioning systems, inertial measurements or odometry, each according to the application; methods, such as Kalman Filter can be used to combine the several sources of information; however, the more accurate each source of information is, the better the estimation of vehicle position and orientation will be; therefore, the calibration of the parameters of the odometrical systems in autonomous terrestrial vehicles is a must; visual guidance is also an important technology used for vehicle guidance. In this paper, it is presented an off-line method for odometry calibration using a genetic algorithm and the fusion of odometry data with heading information from camera data; a particle filter is used to fuse the data from the optical encoder and the camera. This method was tested in an Automated Guided Vehicle (AGV) with tricycle topology, demonstrating high accuracy in position estimation and guidance through arbitrary paths.
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Solichudin, Solichudin, Aris Triwiyatno, and Munawar A. Riyadi. "Conflict-free dynamic route multi-AGV using dijkstra floyd-warshall hybrid algorithm with time windows." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 4 (2020): 3596. http://dx.doi.org/10.11591/ijece.v10i4.pp3596-3604.
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Autonomous Guided Vehicle is a mobile robot that can move autonomously on a route or lane in an indoor or outdoor environment while performing a series of tasks. Determination of the shortest route on an autonomous guided vehicle is one of the optimization problems in handling conflict-free routes that have an influence on the distribution of goods in the manufacturing industry's warehouse. Pickup and delivery processes in the distribution on AGV goods such as scheduling, shipping, and determining the route of vehicle with short mileage characteristics, is very possible to do simulations with three AGV units. There is a windows time limit on workstations that limits shipping. The problem of determining the route in this study is considered necessary as a multi-vehicle route problem with a time window. This study aims to describe the combination of algorithms written based on dynamic programming to overcome the problem of conflict-free AGV routes using time windows. The combined approach of the Dijkstra and Floyd-Warshall algorithm results in the optimization of the closest distance in overcoming conflict-free routes.
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S. Aravintha Kumar, R. Surya Vignesh, P. Subash Chandru, and S. Wesley Moses Samdoss. "Automated Guided Vehicle with Swarm Robotics." International Research Journal on Advanced Engineering Hub (IRJAEH) 3, no. 04 (2025): 1268–73. https://doi.org/10.47392/irjaeh.2025.0179.
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This research outlines the creation and execution of an Automated Guided Vehicle (AGV) system aimed at improving cold chain logistics within small and medium-sized dairy enterprises in rural Tamilnadu. The AGV system is structured in a master-slave configuration, wherein a manually operated master AGV directs several autonomous slave AGVs to effectively transport dairy products from production facilities to cold storage units. By applying principles of swarm robotics, the system reduces the need for manual labor, enhances inventory management, and guarantees accurate deliveries, all while lowering operational expenses. The AGV is outfitted with sophisticated navigation features, allowing for safe operation in dynamic warehouse settings and the ability to circumvent obstacles. Empirical testing has revealed notable advancements in efficiency, cost savings, and the reliability of the cold chain. This study elaborates on the design, implementation, and trans-formative effects of the AGV system on dairy supply chain logistics.
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Pham, Quang Ha, Ngoc Huy Tran, and Thien Phuong Ton. "Design and Control of Automated Guided Vehicle." Applied Mechanics and Materials 902 (September 2020): 33–42. http://dx.doi.org/10.4028/www.scientific.net/amm.902.33.
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Autonomous Guided Vehicles (AGV) have the ability to operate on their own, perform tasks without human intervention. However, the investment cost is very high, so it is not suitable for countries with cheap workers like Vietnam. Therefore, this article will aim to build a complete AGV model that can move to the given coordinates. Model of AGV is 6-wheeled vehicles driven by 4 engines with the advantage of good movement in soft terrain, subsidence, ruggedness, slope, easy to balance and limit the vibration. Furthermore, we propose a method to improve the quality of the traditional A* algorithm by eliminating unnecessary intermediate points, which is Shortcut Path Reduction (SPR). Experimental results show that the vehicle can perform the bending technique, following straight lines and broken lines. Besides, the SPR not only met the requirements but also reduced the length of the journey.
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Vo, Thu Ha, Thi Thuong Than, and Thanh Ha Vo. "Experiment study of an automatic guided vehicle robot." International Journal of Power Electronics and Drive Systems 14, no. 02 (2023): 1300~1308. https://doi.org/10.11591/ijpeds.v14.i2.pp1300-1308.
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This paper presents the design and control of an autonomous robotautomation guided vehicle (AGV) with a load of 50 kg and a DC motor in theory and experiment. This robot has the function of transporting tools and equipment in the factory. This robot is designed and built control system including hardware and software. In which microcontroller type STM32F407VG is selected to control the primary system. The AGV robot is controlled to move according to the required trajectory. A PID controller controls the DC motor. The AGV robot moves precisely according to the routes set in the factory. At the same time, the AGV has good obstacle avoidance. The results of the proposed solution are proven through simulation and experiment.
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Ha, Vo Thu, Than Thi Thuong, and Vo Thanh Ha. "Experiment study of an automatic guided vehicle robot." International Journal of Power Electronics and Drive Systems (IJPEDS) 14, no. 2 (2023): 1300. http://dx.doi.org/10.11591/ijpeds.v14.i2.pp1300-1308.
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<p>This paper presents the design and control of an autonomous robot-automation guided vehicle (AGV) with a load of 50 kg and a DC motor in theory and experiment. This robot has the function of transporting tools and equipment in the factory. This robot is designed and built control system including hardware and software. In which microcontroller type STM32F407VG is selected to control the primary system. The AGV robot is controlled to move according to the required trajectory. A PID controller controls the DC motor. The AGV robot moves precisely according to the routes set in the factory. At the same time, the AGV has good obstacle avoidance. The results of the proposed solution are proven through simulation and experiment.</p>
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Tejada, Juan C., Alejandro Toro-Ossaba, Santiago Muñoz Montoya, and Santiago Rúa. "A Systems Engineering Approach for the Design of an Omnidirectional Autonomous Guided Vehicle (AGV) Testing Prototype." Journal of Robotics 2022 (March 21, 2022): 1–13. http://dx.doi.org/10.1155/2022/7712312.
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This paper addresses the mechanical and electrical design of an autonomous guided vehicle (AGV) test prototype based on a systems engineering approach. First, the different phases of the systems engineering approach are described. The conceptual design begins with the house of quality, which weighs the relevance of each user requirement and ends with a functional representation of the vehicle. Then, the mechanical and electrical design are presented considering different subsystems such as the chassis, cargo platform, suspension system, power, and control components. Finally, different tests were carried out on the prototype, validating its movement and load capacities. The systems engineering approach as a methodology for the construction of complex systems has proven to be an excellent tool for the development of autonomous guided vehicles.
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Teso-Fz-Betoño, Daniel, Ekaitz Zulueta, Unai Fernandez-Gamiz, Iñigo Aramendia, and Irantzu Uriarte. "A Free Navigation of an AGV to a Non-Static Target with Obstacle Avoidance." Electronics 8, no. 2 (2019): 159. http://dx.doi.org/10.3390/electronics8020159.
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The industry is changing in order to improve the economy sector. This is the reason why technology is improving and developing new devices. The autonomous guided vehicle with free navigation is a new machine, which uses different techniques to move such as mapping, localization, path planning, and path following. In this paper, a path following is proposed. The path following is called moving to a point, which uses the proportional distance between the target and the autonomous guided vehicles (AGV) to calculate the velocity and direction. If some obstacles appear in the trajectory, however, the vehicle stops. Instead of stopping the machine, by using moving to a point logic, an obstacle avoidance function will be implemented. In this implementation, different parameters can be configured, such as: security distance, which determinates when the obstacle avoidance must correct the pose; and proportional values, which modify the velocity and steering commands. It is also compared to a dynamic window approach (DWA) obstacle avoidance solution. Additionally, the AGV navigates to a non-static target with a path following algorithm.
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Park, Sang-Bae, Pyeong-Won Seo, Ji-Soo Kim, Hyeon-Woo No, Sek-Byoung Chae, and Sun-Joon Byun. "Development of Autonomous Driving and Docking Control Algorithms for 3D Camera-Based Automatic Guided Vehicle (AGV) System." Korea Industrial Technology Convergence Society 28, no. 2 (2023): 65–73. http://dx.doi.org/10.29279/jitr.2023.28.2.65.
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This paper proposes robot driving algorithms that enable an automatic guided vehicle (AGV) used for industrial logistics to recognize the area inside the safety lines and autonomously drive within these lines. In addition, we propose a system in which a robot can distinguish between driving direction signals, docking signals, and pedestrians, to enhance the accuracy of the docking position while moving to the location for delivery or automatic charging. The average error of the arrival point was about 19.7 mm, when this robot moved to the docking position for charging, after autonomous driving. Furthermore, during autonomous driving, when a pedestrian suddenly entered the safety line in front of the robot, the average accuracies of distance recognition and near recognition measurements were approximately 96.3% and 100%, respectively.
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Suparjon, Suparjon. "Evaluation of Layout Design, Operation and Maintenance of Multi Automated Systems Guided Vehicles (AGV): A Review." International Journal of Mechanical Engineering Technologies and Applications 3, no. 1 (2022): 1. http://dx.doi.org/10.21776/mechta.2022.003.01.1.
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<p>Automated Guided Vehicle (AGV) is a type of vehicle that is driverless and is programmed to run on a predetermined route to transfer loads. Thus, the aim of this work is to improve the layout, operation, and maintenance. the results of these objectives explain that many are used in AGV systems for modern material handling due to the ability of this technology to increase the efficiency and productivity of the system and reduce human labor. Flow paths or layouts are fixed guided routes where vehicles can travel to various points of collection and delivery of cargo. Avoiding collision and deadlock situations, traffic management is required. To prevent physical collisions and obstacles in the path, sensors must be installed AGV. Automatic vehicle maintenance, we must remain vigilant when the AGV is operating, therefore we are very wary of accidents, as explained above that autonomous car will be programmed to follow the flow path rules and reduce the number of accidents but apply to the safety of the driver and look for situations which is less dangerous. After analyzing the situation and doing so choose the best option. Thus, the maintenance of the AGV must be intensive so that automotive vehicle accidents cannot occur again.</p>
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Her, Ming Guo, Wen Jinn Liang, Kuan Wei Wu, Chun Chi Peng, Kuei Shu Hsu, and Yen Chia Peng. "Development of a Vision Guided Mobile Robot and its Applications in Automated Production Lines." Applied Mechanics and Materials 311 (February 2013): 226–31. http://dx.doi.org/10.4028/www.scientific.net/amm.311.226.
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This research developed a vision navigation autonomous mobile robot and combined it with industrial automated production line. Due to traditional TFT-LCD production lines, the load/unload depends on Manual Guided Vehicle (MGV) or Automated Guided Vehicle (AGV). However, it needed to construct many tracks so that the MGV or AGV can move. The track is high cost and is not easy to adjust. Hence, our research developed an autonomous mobile robot with vision navigation technology to determine the location of TFT-LCD panel and the obstruction in the moving process. Furthermore, we successfully developed an intelligent vision navigation autonomous mobile robot in this research. It not only improved the shortcoming of setting up a lot of tracks, but also avoided the obstructions automatically to enhance the safety.
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Apsada, Satria, and Risfendra Risfendra. "Improving the Accuracy of Manual Control of an Automatic Guided Vehicle (AGV) Robot by Applying the Proportional Integral Derivative (PID) Algorithm." JTEIN: Jurnal Teknik Elektro Indonesia 5, no. 2 (2024): 343–54. http://dx.doi.org/10.24036/jtein.v5i2.676.
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Robot Automated Guided Vehicle (AGV) pada umumnya dapat bergerak secara autonomous dan manual. Kendali manual robot Automated Guided Vehicle (AGV) dibutuhkan ketika kendali autonomous sedang tidak digunakan. Kebutuhan untuk kontrol manual pada AGV dapat disebabkan oleh kegagalan sistem otomatis atau untuk situasi di mana operator perlu intervensi langsung untuk keamanan atau tugas yang memerlukan keputusan manusia. Tetapi dalam pengendalian manual robot memiliki nilai deviasi terhadap gerak lurusnya, sehingga mempengaruhi kinerja robot dan menjadikannya semakin sulit dikendalikan. Tujuan penelitian ini untuk meningkatkan performa sistem kontrol manual robot Automated Guided Vehicle (AGV) dengan menggunakan algoritma PID (Proportional Integral Derivative) metode Ziegler Nichlos I atau metode kurva reaksi yang mampu menghasilkan nilai tuning dengan praktis sehingga robot AGV dapat melakukan gerak lurus dengan akurasi yang lebih baik. Penelitian ini terdiri dari tahapan analisis, pengodean dan pengujian robot. Pada penelitian ini menggunakan sensor rotary encoder dengan motor DC PG45 dan dikendalikan mikrokontroler Arduino Atmega 2560 serta kontroler joystick wireless. Penggunaan kendali manual digabungkan dengan Algoritma PID metode Ziegler-Nichols I dengan nilai Kp=0,45; Ki=0,3 dan Kd=0 untuk Motor 1 dan Motor 2 dengan nilai Kp=0,5; Ki=0,15 dan Kd=0 yang dikombinasikan dengan sensor rotary encoder. Hasil pengujian menunjukkan peningkatan kinerja kendali robot AGV dengan nilai ketepatan jarak tempuh dari 3(tiga) meter menjadi 12(dua belas) meter gerak dapat mendekati lintasan lurus.
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Gorgees, S. Akhshirsh, K. Al-Salihi Nawzad, and H. Hamid Oussama. "A cost-effective GPS-aided autonomous guided vehicle for global path planning." Bulletin of Electrical Engineering and Informatics 10, no. 2 (2021): 650~657. https://doi.org/10.11591/eei.v10i2.2734.
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This paper presents a robotic platform of a cost-effective GPS-aided autonomous guided vehicle (AGV) for global path planning. The platform is made of a mechanical radio controlled (RC) rover and an Arduino Uno microcontroller. An installed magnetic digital compass helps determine the right direction of the RC rover by continuously synchronising the heading and bearing of the vehicle. To ensure effective monitoring of the vehicle’s position as well as track the corresponding path, an LCD keypad shield was, further, used. The contribution of the work is that the designed GPS-aided AGV can successfully navigate its way towards a destination point in an obstacle-free outdoor environment by solely relying on its calculation of the shortest path and utilising the corresponding GPS data. This result is achieved with a minimum error possible that lies within a circle of one meter radius around the given destination, allowing the devised GPS-aided AGV to be used in a variety of applications such as landmine detection and removal.
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Akhshirsh, Gorgees S., Nawzad K. Al-Salihi, and Oussama H. Hamid. "A cost-effective GPS-aided autonomous guided vehicle for global path planning." Bulletin of Electrical Engineering and Informatics 10, no. 2 (2021): 650–57. http://dx.doi.org/10.11591/eei.v10i2.2734.
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This paper presents a robotic platform of a cost-effective GPS-aided autonomous guided vehicle (AGV) for global path planning. The platform is made of a mechanical radio controlled (RC) rover and an Arduino Uno microcontroller. An installed magnetic digital compass helps determine the right direction of the RC rover by continuously synchronising the heading and bearing of the vehicle. To ensure effective monitoring of the vehicle’s position as well as track the corresponding path, an LCD keypad shield was, further, used. The contribution of the work is that the designed GPS-aided AGV can successfully navigate its way towards a destination point in an obstacle-free outdoor environment by solely relying on its calculation of the shortest path and utilising the corresponding GPS data. This result is achieved with a minimum error possible that lies within a circle of one meter radius around the given destination, allowing the devised GPS-aided AGV to be used in a variety of applications such as landmine detection and removal.
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Faiza, Gul, Sahal Nazli Alhady Syed, and Rahiman Wan. "A review of controller approach for autonomous guided vehicle system." Indonesian Journal of Electrical Engineering and Computer Science 20, no. 1 (2020): 552–62. https://doi.org/10.11591/ijeecs.v20.i1.pp552-562.
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The autonomous guided vehicle is a great and important platform for control systems. Their non-linear nature helps in analysing the control algorithms more efficiently and effectively. The main purpose of path planning is to find the optimal path avoiding the time complexity so environment can be modeled completely. For path planning numerous algorithms have been proposed to solve their non-linear nature. The paper contains brief explanation on AGV application, and its controller design architecture have been discussed with advantages and disadvantages, e.g. Fuzzy control, Neural Control, Back-stepping control, Adaptive control, Sliding mode control and PID control and linear quadratic regulator. At last a brief conclusion has been drawn on the bases of strength and weakness of all algorithms. The research will help the readers to understand mobile robotic path planning with different controllers.
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Cai, Zhengying, Jingshu Du, Tianhao Huang, Zhuimeng Lu, Zeya Liu, and Guoqiang Gong. "Energy-Efficient Collision-Free Machine/AGV Scheduling Using Vehicle Edge Intelligence." Sensors 24, no. 24 (2024): 8044. https://doi.org/10.3390/s24248044.
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With the widespread use of autonomous guided vehicles (AGVs), avoiding collisions has become a challenging problem. Addressing the issue is not straightforward since production efficiency, collision avoidance, and energy consumption are conflicting factors. This paper proposes a novel edge computing method based on vehicle edge intelligence to solve the energy-efficient collision-free machine/AGV scheduling problem. First, a vehicle edge intelligence architecture was built, and the corresponding state transition diagrams for collision-free scheduling were developed. Second, the energy-efficient collision-free machine/AGV scheduling problem was modeled as a multi-objective function with electric capacity constraints, where production efficiency, collision prevention, and energy conservation were comprehensively considered. Third, an artificial plant community algorithm was explored based on the edge intelligence of AGVs. The proposed method utilizes a heuristic search and the swarm intelligence of multiple AGVs to realize energy-efficient collision-free scheduling and is suitable for deploying on embedded platforms for edge computing. Finally, a benchmark dataset was developed, and some benchmark experiments were conducted, where the results revealed that the proposed heuristic method could effectively instruct multiple automatic guided vehicles to avoid collisions with high energy efficiency.
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Garg, Animesh, Anju Toor, Sahil Thakkar, Shiwangi Goel, Sachin Maheshwari, and Satish Chand. "The Autotrix: Design and Implementation of an Autonomous Urban Driving System." Advanced Materials Research 403-408 (November 2011): 3884–91. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.3884.
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The Autotrix is an interactive, intelligent, Autonomous Guided Vehicle (AGV) designed to serve in urban environments. Autonomous ground vehicle navigation requires the integration of many technologies such as path planning, odometry, control, obstacle avoidance and situational awareness. The objective of this project is for this prototype to navigate autonomously in an urban environment and reach its destination while detecting and avoiding obstacles on the path .This will be achieved by extracting information from multiple sources of real-time data including digital camera, GPS &ultra sonic sensors, collecting data from this extracted information, processing this data and send controlling instructions to our platform (Autotrix). The significance of this work is in presenting the methods needed for real time navigation; GPS based continuous mapping and obstacle avoidance for intelligent autonomous driving systems.
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Zou, Yunfei, Jie Wen, Siyuan Tang, Hongmao Zhou, Panpan Zhang, and Weiting Ning. "Research on the application of autonomous driving technology in port." Highlights in Science, Engineering and Technology 9 (September 30, 2022): 14–18. http://dx.doi.org/10.54097/hset.v9i.1709.
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Automatic driving technology is one of the most popular emerging technologies at present. It has been preliminarily applied in the field of transportation, especially in the automatic container terminal of the port. Automated guided vehicles for freight container(AGV), intelligent container truck(ICT) and intelligent guided vehicle for container(IGV) applying automatic driving technology in the port are briefly introduced. ICT and IGV are especially suitable for the automation transformation of traditional container terminals, and have gradually become the main force of horizontal transportation equipment in automatic container terminals. The main problems existing in the port application of automatic driving technology are emphatically analyzed, and the key research direction is put forward.
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Tlale, Nkgatho Sylvester. "Fuzzy logic controller with slip detection behaviour for Mecanum-wheeled AGV." Robotica 23, no. 4 (2005): 455–56. http://dx.doi.org/10.1017/s0263574705001888.
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A fuzzy logic controller for an omni-directional, autonomous guided vehicle (AGV) implementing Mecanum wheels to achieve directional control of its motion is presented. Omni-directional robotic platforms advantage over conventional designs is that they are capable of performing tasks in congested environments. The AGV's behaviour during navigation is controlled using a fuzzy logic controller, with slip detection.
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Sivarathri, Ashok Kumar, and Amit Shukla. "Autonomous Non-Communicative Navigation Assistance to the Ground Vehicle by an Aerial Vehicle." Machines 13, no. 2 (2025): 152. https://doi.org/10.3390/machines13020152.
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Vision-based UAV-AGV (Unmanned Aerial Vehicle–Autonomous Ground Vehicle) systems are prominent for executing tasks in GPS (Global Positioning System)-inaccessible areas. One of the roles of the UAV is guiding the navigation of the AGV. Reactive/mapless navigation assistance to an AGV from a UAV is well known and suitable for computationally less powerful systems. This method requires communication between both agents during navigation as per state of the art. However, communication delays and failures will cause failures in tasks, especially during outdoor missions. In the present work, we propose a mapless technique for the navigation of AGVs assisted by UAVs without communication of obstacles to AGVs. The considered scenario is that the AGV is undergoing sensor and communication module failure and is completely dependent on the UAV for its safe navigation. The goal of the UAV is to take AGV to the destination while guiding it to avoid obstacles. We exploit the autonomous tracking task between the UAV and AGV for obstacle avoidance. In particular, AGV tracking the motion of the UAV is exploited for the navigation of the AGV. YOLO (You Only Look Once) v8 has been implemented to detect the drone by AGV camera. The sliding mode control method is implemented for the tracking motion of the AGV and obstacle avoidance control. The job of the UAV is to localize obstacles in the image plane and guide the AGV without communicating with it. Experimental results are presented to validate the proposed method. This proves to be a significant technique for the safe navigation of the AGV when it is non-communicating and experiencing sudden sensor failure.
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Koumboulis, Fotis N., Dimitrios G. Fragkoulis, George E. Panagiotakis, and Efthimios Mavroeidis. "Safe Performance of an Industrial Autonomous Ground Vehicle in the Supervisory Control Framework." Electronics 12, no. 24 (2023): 5035. http://dx.doi.org/10.3390/electronics12245035.
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A Cyberphysical system, being an autonomous guided vehicle (AGV) and having diverse applications such as thematic parks and product transfer in manufacturing units, is modeled and controlled. The models of all subsystems of the AGV are provided in discrete event systems (DES) form following the Ramadge–Wonham (R–W) framework. The safe performance of the AGV, being the desired behavior of the system, is presented in the form of desired rules and translated into a set of regular languages. Then, the regular languages are realized as supervisory automata in the framework of Supervisory Control Theory (SCT). To ease implementation and coordination of the control architecture, the supervisors are designed to be in two-state automata forms. The controllability of the regular languages, regarding the AGV, will be proved, using the physical realizability (PR) of the synchronous product of the automata of the system and the supervisors. Also, the nonblocking property of all the controlled automata will be proven to be satisfied. Simulation of the controlled AGV will validate the proposed method.
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Anand, Rao, Nihal Vishnu Vantagodi, Kartik A. Shanbhag, and M. Mahesh. "Automated Guided Vehicles by Permanent Magnet Synchronous Motor: Future of In-house Logistics." Power Electronics and Drives 4, no. 1 (2019): 151–59. http://dx.doi.org/10.2478/pead-2019-0006.
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AbstractMaterial handling and logistics management that involve transportation of work pieces on production floor are important aspects to manufacturing that affect productivity and efficiency. Tow vehicles that are manually driven are currently used for this purpose. These processes can be better performed through automation. Automated guided vehicle (AGV) is an apt solution. AGVs are unmanned autonomous vehicles that can be programmed to perform versatile tasks. AGVs available in market are imported and hence have high capital cost and increased lead time for spare parts. Proposed AGV is built with a capital cost that is less than half of the existing AGVs. Its design is made indigenously, with most of its parts locally sourced. It can achieve a speed of 0.83 m/s, with a pulling capacity of 1,300 kg. Its rechargeable batteries sustain four hours of continuous operation for one complete discharge. It has been tested and found to effectively replace tow vehicles.
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Hirogaki, Toshiki, Eiichi Aoyama, Keiji Ogawa, Takahiro Kono, and Daisuke Mitsuoka. "Autonomous Conveyance Control of AGV Based on Knowledge of Taxi Transportation Rules." Key Engineering Materials 523-524 (November 2012): 693–98. http://dx.doi.org/10.4028/www.scientific.net/kem.523-524.693.
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Recently, demand has been increasing for various kinds and volumes of manufacturing systems. Also, the importance of the Automated Guided Vehicle (AGV) is increasing because it can flexibly correspond to the change of equipment in a factory. This paper describes an autonomous conveyance system for AGV based on a taxi transportation strategy. The system focuses on knowledge of a flexible taxi system in traffic engineering. A taxi is a transport unit in a traffic system with higher flexibility in traveling routes and arrival/departure points compared with railways and buses. In the present report, the waiting mode of a taxi is applied as an AGV rule and investigated to verify the effect of the proposed system. Moreover, the effect of multi-loaded AGV on system performance such as matching time and conveyance efficiency is investigated. A numerical experiment has been conducted to evaluate them. As a result, it was found that introduction of multi-loaded AGV is effective at reducing matching time without conveyance efficiency decrease.
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Sutisna, Nanang Ali, and Michael Quinn Farrand. "Design and Prototyping of Mini AGV with Arduino Microcontroller." ROTASI 22, no. 2 (2020): 119–26. https://doi.org/10.14710/rotasi.22.2.119-126.
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This paper presents the design and prototype of a Mini Automated Guided Vehicle (AGV) using a microcontroller. The mini AGV system is based on an autonomous forklift. The purpose of the AGV prototype is to move objects from one place to another and continuously. To run, AGV uses the Line Follower method by using four obstacle detection sensors or infrared transmitters and receivers. Furthermore, when all sensors are active, AGV will stop when there are objects with RFID tags outside. The RFID reader which is placed in front of the AGV activates a stepper motor which will move the object's fork. Then AGV sends the object to a predetermined place. Most components use compatible Arduino modules, except for the chassis and some parts use components made of acrylic or printed in 3D.
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Shete, Prof H. K. "Design and Development of an IR Sensor-Based Automated Guided Vehicle for Efficient Material Handling." International Journal for Research in Applied Science and Engineering Technology 13, no. 4 (2025): 3141–44. https://doi.org/10.22214/ijraset.2025.68879.
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This research presents the design and development of an IR sensor-based Automated Guided Vehicle (AGV) prototype for efficient and autonomous material handling. The AGV is designed to navigate through multiple stations using IR sensors, eliminating the need for manual intervention in the pickup, assembly, and delivery of components. At each station, the AGV collaborates with robotic arms to pick a shaft and pulley, perform assembly, and transport the final package to the designated endpoint. The system uses a set of IR sensors for path following, station detection, and object verification, combined with an Arduino Mega controller and a relay-driven motor system. The solution offers a low-cost, reliable, and scalable automation system suitable for small-scale industrial applications
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Yang, Yang, Juntao Li, and Xiaoling Li. "An Improved AGV Real-Time Location Model Based on Joint Compatibility Branch and Bound." Mathematical Problems in Engineering 2020 (November 23, 2020): 1–14. http://dx.doi.org/10.1155/2020/9043641.
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Automated Guided Vehicle (AGV) indoor autonomous cargo handling and commodity transportation are inseparable from AGV autonomous navigation, and positioning and navigation in an unknown environment are the keys of AGV technology. In this paper, the extended Kalman filter algorithm is used to match the sensor observations with the existing features in the map to determine the accurate positioning of the AGV. This paper proposes an improved joint compatibility branch and bound (JCBB) method to divide the data and then randomly extract part of the data in the divided data set, thereby reducing the data association space; then, the JCBB algorithm is used to perform data association and finally merge the associated data. This method can solve the problem of the increased computational complexity of JCBB when the amount of data to be matched is large to achieve the effect of increasing the correlation speed and not reducing the accuracy rate, thereby ensuring the real-time positioning of the AGV.
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Higashi, Toshimitsu, Kosuke Sekiyama, and Toshio Fukuda. "Autonomous Formation of Transportation Order under Dynamical Environment." Journal of Robotics and Mechatronics 12, no. 4 (2000): 494–500. http://dx.doi.org/10.20965/jrm.2000.p0494.
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This paper proposes a system, that realizes collective autonomous behavior such as an autonomous conveyance order formation in the AGV (Auto Guided Vehicle) transportation system. We attempt to deal with a large-scale distributed autonomous system in a dynamic environment feasibly. However, if we use a global evaluation function in order to control each agent, it is necessary to rewrite the global evaluation function of the system whenever the environment changes. If we use such a method, the system cannot be called a real distributed autonomous system. In this paper, we propose two ideas in order to realize dynamically reconfigurable formation in the dynamic environment, namely, learning based on the agent's own action and interaction with other agents by relative evaluation. By use of these ideas, it is shown that dynamically reconfigurable formation emerges as an autonomous conveyance order formation of AGV transportation in the dynamic environment.
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El Hajjami, Lhoussain, El Mehdi Mellouli, Vidas Žuraulis, Mohammed Berrada, and Ismail Boumhidi. "A Robust Intelligent Controller for Autonomous Ground Vehicle Longitudinal Dynamics." Applied Sciences 13, no. 1 (2022): 501. http://dx.doi.org/10.3390/app13010501.
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In this paper, a novel adaptive sliding mode controller (SMC) was designed based on a robust law considering disturbances and uncertainties for autonomous ground vehicle (AGV) longitudinal dynamics. The robust law was utilized in an innovative method involving the upper bounds of disturbances and uncertainties. Estimating this lumped uncertainty upper limit based on a neural network approach allowed its online knowledge. It guided the controller to withstand the disturbance and to compensate for the uncertainties. A stability analysis, according to Lyapunov, was completed to confirm the asymptotic convergence of the states to the desired state. The effectiveness and benefits of the planned approach were scrutinized by simulations and comparative studies.
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Pires, Micael, Pedro Couto, António Santos, and Vítor Filipe. "Obstacle Detection for Autonomous Guided Vehicles through Point Cloud Clustering Using Depth Data." Machines 10, no. 5 (2022): 332. http://dx.doi.org/10.3390/machines10050332.
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Autonomous driving is one of the fastest developing fields of robotics. With the ever-growing interest in autonomous driving, the ability to provide robots with both efficient and safe navigation capabilities is of paramount significance. With the continuous development of automation technology, higher levels of autonomous driving can be achieved with vision-based methodologies. Moreover, materials handling in industrial assembly lines can be performed efficiently using automated guided vehicles (AGVs). However, the visual perception of industrial environments is complex due to the existence of many obstacles in pre-defined routes. With the INDTECH 4.0 project, we aim to develop an autonomous navigation system, allowing the AGV to detect and avoid obstacles based in the processing of depth data acquired with a frontal depth camera mounted on the AGV. Applying the RANSAC (random sample consensus) and Euclidean clustering algorithms to the 3D point clouds captured by the camera, we can isolate obstacles from the ground plane and separate them into clusters. The clusters give information about the location of obstacles with respect to the AGV position. In experiments conducted outdoors and indoors, the results revealed that the method is very effective, returning high percentages of detection for most tests.
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Martin, Xabier A., Sara Hatami, Laura Calvet, Mohammad Peyman, and Angel A. Juan. "Dynamic Reactive Assignment of Tasks in Real-Time Automated Guided Vehicle Environments with Potential Interruptions." Applied Sciences 13, no. 6 (2023): 3708. http://dx.doi.org/10.3390/app13063708.
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An efficient management of production plants has to consider several external and internal factors, such as potential interruptions of the ongoing processes. Automated guided vehicles (AGVs) are becoming a widespread technology that offers many advantages. These AGVs can perform complex tasks in an autonomous way. However, an inefficient schedule of the tasks assigned to an AGV can suffer from unwanted interruptions and idle times, which in turn will affect the total time required by the AGV to complete its assigned tasks. In order to avoid these issues, this paper proposes a heuristic-based approach that: (i) makes use of a delay matrix to estimate circuit delays for different daily times; (ii) employs these estimates to define an initial itinerary of tasks for an AGV; and (iii) dynamically adjusts the initial agenda as new information on actual delays is obtained by the system. The objective is to minimize the total time required for the AGV to complete all the assigned tasks, taking into account situations that generate unexpected disruptions along the circuits that the AGV follows. In order to test and validate the proposed approach, a series of computational experiments utilizing real-life data are carried out. These experiments allow us to measure the improvement gap with respect to the former policy used by the system managers.
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Do Couto, Dylan, Joseph Butterfield, Adrian Murphy, and Joseph Coleman. "Methods of Evaluating 3D Perception Systems for Unstructured Autonomous Logistics." Journal of Computational Vision and Imaging Systems 6, no. 1 (2021): 1–5. http://dx.doi.org/10.15353/jcvis.v6i1.3558.
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 This study introduces methods of evaluating 3D perception systems, such as Time of Flight (ToF) systems, for automated logistics applications in unstructured environments. Here perception is defined as a system’s understanding of its environment and the Objects Of Interest (OOI) within that environment, through hardware consisting of cameras or depth sensors. Current computer guided machinery that rely on perception systems, such as an Autonomous Guided Vehicle (AGV), require structured environments that are specifically designed for such a machine. Unstructured environments include warehouses or manufacturing facilities that have not been tailor designed or structured specifically for the purpose of using a computer guided machine. In this study, two methods are proposed to assess 3D systems proposed for autonomous logistics in unstructured environments. The results of this study indicate that the methods presented here are suitable for future and comparative 3D perception and evaluation in this space.
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Li, Yiduo, Debao Wang, Qipeng Li, Guangtao Cheng, Zhuoran Li, and Peiqing Li. "Advanced 3D Navigation System for AGV in Complex Smart Factory Environments." Electronics 13, no. 1 (2023): 130. http://dx.doi.org/10.3390/electronics13010130.
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The advancement of Industry 4.0 has significantly propelled the widespread application of automated guided vehicle (AGV) systems within smart factories. As the structural diversity and complexity of smart factories escalate, the conventional two-dimensional plan-based navigation systems with fixed routes have become inadequate. Addressing this challenge, we devised a novel mobile robot navigation system encompassing foundational control, map construction positioning, and autonomous navigation functionalities. Initially, employing point cloud matching algorithms facilitated the construction of a three-dimensional point cloud map within indoor environments, subsequently converted into a navigational two-dimensional grid map. Simultaneously, the utilization of a multi-threaded normal distribution transform (NDT) algorithm enabled precise robot localization in three-dimensional settings. Leveraging grid maps and the robot’s inherent localization data, the A* algorithm was utilized for global path planning. Moreover, building upon the global path, the timed elastic band (TEB) algorithm was employed to establish a kinematic model, crucial for local obstacle avoidance planning. This research substantiated its findings through simulated experiments and real vehicle deployments: Mobile robots scanned environmental data via laser radar and constructing point clouds and grid maps. This facilitated centimeter-level localization and successful circumvention of static obstacles, while simultaneously charting optimal paths to bypass dynamic hindrances. The devised navigation system demonstrated commendable autonomous navigation capabilities. Experimental evidence showcased satisfactory accuracy in practical applications, with positioning errors of 3.6 cm along the x-axis, 3.3 cm along the y-axis, and 4.3° in orientation. This innovation stands to substantially alleviate the low navigation precision and sluggishness encountered by AGV vehicles within intricate smart factory environments, promising a favorable prospect for practical applications.
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Pomeroy, S. C., H. R. Williams, and P. Blanchfield. "Evaluation of ultrasonic inspection and imaging systems for robotics using TLM modelling." Robotica 9, no. 3 (1991): 283–90. http://dx.doi.org/10.1017/s0263574700006445.
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SUMMARYAirborne ultrasound based sensor systems have been applied to a variety of problems in robotics and advanced manufacturing. These include slot and hole inspection, and systems suitable for workspace imaging and autonomous guided vehicle (AGV) navigation. The transmission line matrix (TLM) method of modelling wave propagation has been used in the evaluation of these systems. The model gives both graphical and numerical outputs, and allows an improved understanding of the interaction of ultrasonic waves and targets to be obtained.
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Cai, Yongrong, Haibin Liu, Mingfei Li, and Fujie Ren. "A Method of Dual-AGV-Ganged Path Planning Based on the Genetic Algorithm." Applied Sciences 14, no. 17 (2024): 7482. http://dx.doi.org/10.3390/app14177482.
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The genetic algorithm (GA) is a metaheuristic inspired by the process of natural selection, and it is known for its iterative optimization capabilities in both constrained and unconstrained environments. In this paper, a novel method for GA-based dual-automatic guided vehicle (AGV)-ganged path planning is proposed to address the problem of frequent steering collisions in dual-AGV-ganged autonomous navigation. This method successfully plans global paths that are safe, collision-free, and efficient for both leader and follower AGVs. Firstly, a new ganged turning cost function was introduced based on the safe turning radius of dual-AGV-ganged systems to effectively search for selectable safe paths. Then, a dual-AGV-ganged fitness function was designed that incorporates the pose information of starting and goal points to guide the GA toward iterative optimization for smooth, efficient, and safe movement of dual AGVs. Finally, to verify the feasibility and effectiveness of the proposed algorithm, simulation experiments were conducted, and its performance was compared with traditional genetic algorithms, Astra algorithms, and Dijkstra algorithms. The results show that the proposed algorithm effectively solves the problem of frequent steering collisions, significantly shortens the path length, and improves the smoothness and safety stability of the path. Moreover, the planned paths were validated in real environments, ensuring safe paths while making more efficient use of map resources. Compared to the Dijkstra algorithm, the path length was reduced by 30.1%, further confirming the effectiveness of the method. This provides crucial technical support for the safe autonomous navigation of dual-AGV-ganged systems.
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Bagade, Dr S. D., Siddharth Kalburgi, Tanmay More, Shreya Patil, Akash Mohite, and Omkar Jadhav. "Assembly Automation & AGV-Assisted Material Handling." International Journal for Research in Applied Science and Engineering Technology 13, no. 4 (2025): 5399–403. https://doi.org/10.22214/ijraset.2025.69640.
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Abstract: Manual assembly processes often present significant challenges, including time inefficiency, human error, and safety risks particularly when handling small or delicate components. To address these issues, this research presents the development of a Raspberry Pi-controlled robotic arm prototype, specifically designed for assembly operations in a mechatronics laboratory setting. The system collaborates with an Automated Guided Vehicle (AGV) to create a semi-autonomous assembly line. Positioned at a designated workstation, the robotic arm performs precision assembly of 3D printed parts and transfers the completed units onto the AGV for further processing. Integration of sensors ensures the timely detection of the AGV’s arrival, enabling seamless coordination between the robotic arm and the mobile platform. This prototype aims to automate repetitive tasks, minimize human intervention, and enhance safety and productivity. Future industrial adaptations of this system are expected to further streamline manufacturing processes and reduce operational risks
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Fazlollahtabar, Hamed. "Parallel autonomous guided vehicle assembly line for a semi-continuous manufacturing system." Assembly Automation 36, no. 3 (2016): 262–73. http://dx.doi.org/10.1108/aa-08-2015-065.
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Purpose This paper aims to propose a parallel automated assembly line system to produce multiple products in a semi-continuous system. Design/methodology/approach The control system developed in this research consists of a manufacturing system for two-level hierarchical dynamic decisions of autonomous/automated/automatic-guided vehicles (AGVs) dispatching/next station selection and machining schedules and a station control scheme for operational control of machines and components. In this proposed problem, the assignment of multiple AGVs to different assembly lines and the semi-continuous stations is a critical objective. AGVs and station scheduling decisions are made at the assembly line level. On the other hand, component and machining resource scheduling are made at the station level. Findings The proposed scheduler first decomposes the dynamic scheduling problems into a static AGV and machine assignment during each short-term rolling window. It optimizes weighted completion time of tasks for each short-term window by formulating the task and resource assignment problem as a minimum cost flow problem during each short-term scheduling window. A comprehensive decision making process and heuristics are developed for efficient implementation. A simulation study is worked out for validation. Originality/value Several assembly lines are configured to produce multiple products in which the technologies of machines are shared among the assembly lines when required. The sequence of stations is pre-specified in each assembly line and the components of a product are kept in machine magazine. The transportation between the stations in an assembly line (intra assembly line) and among stations in different assembly lines (inter assembly line) are performed using AGVs.
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Meng, Qing-hao, Da-wei Liu, Ming-lu Zhang, and Yi-cai Sun. "Wall-following by an Autonomously Guided Vehicle (AGV) Using a New Fuzzy-I (Integration) Controller." Robotica 17, no. 1 (1999): 79–86. http://dx.doi.org/10.1017/s0263574799000740.
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In this paper, the wall-following problem of an AGV is characterized by keeping a constant distance from a wall. Four Polaroid ultrasonic range sensors (sonar) are used to obtain information of the distance between the AGV and the wall. Four sonars are divided into two groups being placed at the front and back end on the right side of the AGV, respectively. A digital filter is used to get rid of disturbance and wrong readings. The former results mainly from the door and the latter from the specular reflection and accidental scattering. To obtain good dynamic and steady performances, a new compound fuzzy-I control algorithm is presented. Our methods have been verified by following a 15-meter-long wall with one door by using our TIT-1 AGV (TIT: Tianjin Institute of Technology). The results show a good performance with an error of ±2 cm from the desired distance to the wall.
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Matsui, Tomoya A., Yasuaki B. Omi, Toshiki C. Hirogaki, and Eiichi D. Aoyama. "Investigation of Travel Interference Problems in Taxi-Type AGV Transport Systems and Its Estimation under SLAM Operations." International Journal of Mechanical Engineering and Robotics Research 13, no. 2 (2024): 296–303. http://dx.doi.org/10.18178/ijmerr.13.2.296-303.
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Automated Guided Vehicles (AGVs) are becoming increasingly important in flexible manufacturing systems because they can adapt to changes in facilities and factory layouts. However, AGV transport systems suffer from system shutdowns when the AGVs collide. In this study, our objective was to investigate how the interference time of taxitype AGV transport systems is altered when a passing place is installed at the pick-up and drop-off points (P/Ds) to reduce the interference between AGVs. Consequently, it was inferred that the main cause of interference during taxi-type autonomous driving was when the AGV, a type of autonomous mobile robot, waited at the P/D, and installing the passing place was effective. In recent years, there has also been a growing trend toward autonomous AGVs that use simultaneous localization and mapping for self-position estimation and environmental mapping. In autonomous driving, a high level of self-position estimation is important because it is related to interference between AGVs. However, the accuracy of AGV self-position estimation depends on the environment in which the AGV is used and its traveling speed. Therefore, our objective was to evaluate the accuracy of selfposition estimation when the environment was used and the AGV speed was varied. The results demonstrated that the speed and standard deviation were positively correlated. The standard deviation was smaller for the rectangle (b) than the wall (a) on both sides. Therefore, the possibility of interference between AGVs increases when the speed is high or when there are few features, such as walls, because the accuracy of self-position estimation decreases.
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Feng, Junkai, Yongsheng Yang, Haichao Zhang, Shu Sun, and Bowei Xu. "Path Planning and Trajectory Tracking for Autonomous Obstacle Avoidance in Automated Guided Vehicles at Automated Terminals." Axioms 13, no. 1 (2023): 27. http://dx.doi.org/10.3390/axioms13010027.
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During the operation of automated guided vehicles (AGVs) at automated terminals, the occurrence of conflicts and deadlocks will undoubtedly increase the ineffective waiting time of AGVs, so there is an urgent need for path planning and tracking control schemes for autonomous obstacle avoidance in AGVs. An innovative AGV autonomous obstacle avoidance path planning and trajectory tracking control scheme is proposed, effectively considering static and dynamic obstacles. This involves establishing three potential fields that reflect the influences of obstacles, lane lines, and velocities. These potential fields are incorporated into an optimized model predictive control (MPC) cost function, leveraging artificial potential fields to ensure effective obstacle avoidance. To enhance this system’s capability, a fuzzy logic system is designed to dynamically adjust the weight coefficients of the hybrid artificial potential field model predictive controller, strengthening the autonomous obstacle avoidance capabilities of the AGVs. The tracking control scheme includes a fuzzy linear quadratic regulator based on a fuzzy logic system, a dynamics model as a lateral controller, and a PI controller as a longitudinal tracker to track the pre-set trajectory and speed autonomously. Multi-scenario simulation tests demonstrate the effectiveness and rationality of our autonomous obstacle-avoidance control scheme.
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Gmiterko, Alexander. "LINE RECOGNITION SENSORS." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 4 (14) (2018): 194–200. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-194-200.
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Urgency of the research. There is a need from industrial practice for developing of methods for linefollowing navigation of automated guided vehicle (AGV) for logistic task in factories without operators. Target setting. Various types of navigation methods are used for vehicles. Actual scientific researches and issues analysis. Navigation of this automated guided vehicle can be made through the color line on ground or through the inductive sensed cable located underground. Also magnetically guided method is used. Various types of optical markers can be also used. Nowadays this type of autonomous robot applications grows up, because there is a need from industry. Uninvestigated parts of general matters defining. Next generation of automated guided vehicle is navigated via using laser scanners and they are also called LGV – Laser Guided Vehicle. This type is not covered in this paper. The research objective. The main aim of paper is to design the sensing system for color line sensing. There are several problems in using of these types of sensors. Manufacturer notes that there is placed daylight filter, but first experiments shows sensitivity to daylight. This problem can occurs when vehicle goes to tunnel. Next problem is when vehicle moves uphill and downhill on a bridge. The statement of basic materials. The color of sensor can be sensed with sensor - reflection optocoupler working in infrared light range. The optocoupler includes the infrared LED transmitter and infrared phototransistor, which senses the reflected light. Optocouplers are placed on bottom side of vehicle. Navigation line is black and other ground area is white. Optocoupler located over the navigation black line has no infrared reflection. Conclusions. The selected sensor system has been adapted for line detection application. Also ramp problems have been solved. Sensors have been successfully installed on linefollower vehicle. Results shows visible difference between the voltage levels related to black and white color line. Future plans is to add camera vision system for automatic recognition of line before vehicle and continuously path planning. Vision systems are also frequently used for obstacle detection and mapping of environment and consequently for path planning.
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Pairindra, Worapong, Suwaphit Phongsawat, Teeraphon Phophongviwat, and Surin Khomfoi. "The Development of a 1 kW Mid-Range Wireless Power Transfer Platform for Autonomous Guided Vehicle Applications Using an LCC-S Resonant Compensator." World Electric Vehicle Journal 16, no. 6 (2025): 322. https://doi.org/10.3390/wevj16060322.
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This study presents the development, simulation, and hardware implementation of a 48 V, 1 kW mid-range wireless power transfer (WPT) platform for autonomous guided vehicle (AGV) charging in industrial applications. The system uses an LCC-S compensation topology, selected for its ability to maintain a constant output voltage and deliver high efficiency even under load variations at a typical coil distance of 15 cm. It can also operate at different distances by adjusting the compensator circuit. A proportional–integral (PI) controller is implemented for current regulation, offering a practical, low-cost solution well suited to industrial embedded systems. Compared to advanced control strategies, the PI controller provides sufficient accuracy with minimal computational demand, enabling reliable operation in real-world environments. Current adjustment can be dynamically carried out in response to real-time changes and continuously monitored based on the AGV battery’s state of charge (SOC). Simulation and experimental results validate the system’s performance, achieving over 80% efficiency and demonstrating its feasibility for scalable, robust AGV charging in Industry 4.0 Manufacturing Settings.
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Yamamoto, Hidehiko, and Takayoshi Yamada. "Intelligent AGV Control of Autonomous Decentralized FMS by Oblivion and Memory." Key Engineering Materials 447-448 (September 2010): 326–30. http://dx.doi.org/10.4028/www.scientific.net/kem.447-448.326.
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This paper describes a method to control Autonomous decentralized Flexible Manufacturing System (AD-FMS) by using a memory to determine a priority ranking for competing hypotheses. The aim is to increase the reasoning efficiency of a system the author calls reasoning to anticipate the future (RAF) which controls automatic guided vehicles (AGVs) in AD-FMSs. The system includes memory data of past production conditions and AGV actions. The system was applied to an AD-FMS that was constructed on a computer. The results showed that, compared with conventional reasoning, this reasoning system reduced the number of hypothesis replacements until a true hypothesis was reached.
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Sun, Jingran, Yuyin Zhang, Fangjia Fu, Liyan Kang, and Junxu Ma. "Research and Prospect of Intelligent Workshop AGV Path Planning Algorithm." Journal of Engineering Research and Reports 26, no. 7 (2024): 71–80. http://dx.doi.org/10.9734/jerr/2024/v26i71195.
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Path planning algorithm is one of the core algorithms for automatic guided vehicle（AGV）to complete the autonomous task of intelligent workshop. The research status of grid method and Viewable method in environment modeling at home and abroad is described. The research results of traditional path search algorithms such as artificial potential field method, Dijstra algorithm and A* algorithm are analyzed and compared with intelligent algorithms such as particle swarm optimization algorithm, ant colony algorithm and genetic algorithm. The analysis finds that in the face of complex workshop environment, multi-factor influence and complex obstacles, some tasks are not completed or work overtime depending on the traditional algorithm. Therefore, starting from the algorithm improvement, in order to improve the operational efficiency and efficient obstacle avoidance of AGV, the fusion of intelligent algorithm and traditional algorithm will become the focus of research. Finally, combined with the existing problems in the current AGV path planning research, the research trend of intelligent development and integrated development is prospected. In future research, improvements in algorithm efficiency and integration with emerging technologies such as artificial intelligence can be considered.