The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Path Planning for AGVs with Path Tracking

경로 추적 방식의 AGV를 위한 경로 계획

  • 도주철 (부산대학교 전자전기공학과) ;
  • 김정민 (부산대학교 전자전기공학과) ;
  • 정경훈 (부산대학교 로봇협동과정) ;
  • 우승범 (부산대학교 로봇협동과정) ;
  • 김성신 (부산대학교 전자전기공학과)
  • Received : 2010.07.28
  • Accepted : 2010.11.05
  • Published : 2010.11.30
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Abstract

This paper presents a study of path-planning method for AGV(automated guided vehicle) based on path-tracking. It is important to find an optimized path among the AGV techniques. This is due to the fact that the AGV is conditioned to follow the predetermined path. Consequently, the path-planning method is implemented directly affects the whole AGV operation in terms of its performance efficiency. In many existing methods are used optimization algorithms to find optimized path. However, such methods are often prone with problems in handling the issue of inefficiency that exists in system's operation due to inherent undue time delay created by heavy load of complex computation. To solve such problems, we offer path-planning method using modified binary tree. For the purpose of our experiment, we initially designed a AGV that is equiped with laser navigation, two encoders, a gyro sensor that is meant to be operated within actual environment with given set of constrictions and layout for the AGV testing. The result of our study reflects the fact that within such environments, the proposed method showed improvement in its efficiency in finding optimized path.

Keywords

References

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