The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Path Tracking for AGV using Laser guidance system

레이저 유도 시스템을 이용한 AGV의 경로추적

  • 박정제 (부산대학교 전자전기공학과) ;
  • 김정민 (부산대학교 전자전기공학과) ;
  • 도주철 (부산대학교 전자전기공학과) ;
  • 김성신 (부산대학교 전자전기공학과) ;
  • 배선일 ((주)아티스)
  • Received : 2010.02.19
  • Accepted : 2010.05.15
  • Published : 2010.05.31
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Abstract

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.

Keywords

References

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