Velocity Control Method of AGV for Heavy Material Transport

Abstract

This paper presents to study the velocity control method of AGV for heavy material transport. Generally, in the industries, fork-type AGV using path tracking requires high stop-precision with performing operations for 20 hours. To obtain the high stop-precision of AGV for heavy material transport, AGV requires driving technic during low speed. Hence, we use encoder with keeping the speed of AGV and study the velocity control method to improve for the stop-precision of AGV. To experiment the proposed the velocity control method, we performed the experiments engaging the pallet located 4m in front of the AGV. In the experimental result, the maximum error of stop-precision was less than 18.64mm, and we verified that the proposed method is able to control stable.

Magnetic Guidance Vehicle using Up-and-down Rotating Type Differential Drive Unit

“…기존에는 랜드마크를 설치하여 주행 정보를 획득하였지만, 이는 랜드마크 설치 및 이를 인식하기 위한 추가적인 센서를 필요로 한다. 또한, 주행을 위해 주로 사용되는 고정형 구동부는 무인운반차 및 적재된 화물의 무게 균형에 따 라 주행 제어가 불안정해지며, 고속 주행의 경우에는 적 재된 화물의 추락에 대한 문제점이 있다 [9][10] …”