PROTOTYPE DESIGN OF AGV

Abstract

The aim of the thesis Prototype Design Of Automatic Guided Vehicle (AGV) is to, construct a vehicle -automatically guided with some intelligence to choose the correct path of travel. The AGV has two back wheels driven by two stepper motors and a free castor wheel, at the front. For the simplest automation, the AGV would be moving, by image processing ..The top-view image of the environment is taken by a camera, the distance transform is used to build the artificial potential field required: The potential field method is used to calculate, the repulsive force between the vehicle and the. closest obstacle, and the attractive force generated by the goal. Then the resultant force guides the mobile vehicle to its. destination. When trap situations occur and the AGV. may not, reach the goal or even collide the obstacles, fuzzy logic controller is used to modify the direction of the AGV. Based on the angle between the obstacle and the goal, 'aiid. the status of the AGV, a correction angle is generated. by the simple. fuzzy rules. Thus, the AGV is a good platform for robotics. On availability of good- sensors, the thesis can be extended to make a more sophisticated robot in the future