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Abstract. This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M) Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm x 270cm square) with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system's control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS) as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.

This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a closeloop control for the each axis of the fork-lift's movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement.

This paper presents a proposed integrated Takagi-Sugeno-Kang (TSK) type Fuzzy Logic control (TSK-FLC) with Antiwindup elements for a forkloader position control of a Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV). The study was carried out by modeling TSK-FLC as a close-loop control for the each axis of the fork-lift's movement. The degree of membership is designed with reference to the system response, in which ultrasonic sensor with 1cm resolution is used. Moreover, the rule base is determined and optimized to deal with microcontroller processing speed. In order to cater for the windup phenomenon, proportional and integrated antiwindup elements are integrated into the TSK-FLC model. This control strategy consumes less memory and is expected to increase the time response of the control system. The experiment and analysis is done on the actual forkloader unit of MHeLFAGV system. The experiment was done on the vertical axis motion since horizontal motion will have the same characteristic pattern of implementation and characteristic of tuning. The experiment shows that the proposed integrated TSK-FLC with antiwindup elements is able to speed up the time response of the system and eliminate the overshoot as well as oscillation on the forkloader movement.