This paper proposes a new obstacle avoidance algorithm for the CONTROLAB AGV which uses a similar strategy adopted by a blind person to avoid obstacles while walking. The AGV moves within an office environment with a known floorplan and uses an "electronic stick" consisting of infrared sensors to detect unknown obstacles. Initially a global potential field function is defined for each floorplan...

Trajectory tracking is an essential capability of robotics operation in industrial automation. In this article, an artificial neural controller is proposed to tackle trajectory-tracking problem of an autonomous ground vehicle (AGV). The controller is implemented based on fractional order proportional integral derivative (FOPID) control that was already designed in an earlier work. A non-holonom...

In this paper, we consider real-time tracking of an Autonomous Guided Vehicle (AGV) in an indoor industrial scenario. An on-board odometer provides information about the dynamic state of the AGV, allowing to predict its pose (position and orientation). At the same time, an external Ultra Wide Band (UWB) wireless network provides the information necessary to compensate the error drift accumulate...

An analysis of the transportation systems used in flexible manufacturing systems is introduced in the paper. Based on the analysis an approach to the modelling and control of an automatic guided vehicles system (AGVS) is presented. It is aimed at a specifically delimited class of the AGV transportation systems. A special group of the colored Petri nets interpreted for control is used for the pr...

Due to globalization and the growth of international trade, many container terminals are trying to improve performance in order to keep up with demand. One technology that has been proposed is the use of Automated Guided Vehicles (AGVs) in the handling of containers within terminals. Recently, a new generation of AGVs has been developed which makes use of cassettes that can be detached from the...

In pursuit of flexible and agile automation within the domain of discrete manufacturing, a paint-shop with its surrounding logistics and handling processes is under construction as a laboratory prototype application. Holonic Manufacturing is argued to be a promising strategic paradigm and architecture to use for a system characterized by flexible production logistics and control. This paper des...

units output by some cells have to be carried to other units. An automated guided vehicle (AGV) is a vehicle which carries the units among the cells by moving around in a space which is composed of guidepaths. The space is logically composed of space objects structured in a tree, where high-level space objects denote broader and more abstract space. In this paper, we would like to model the mov...

In this paper a control strategy of Automated Guided Vehicle (AGV) is proposed. The vehicle movement controlled by an inboard PLC do not need physical guide. The vehicle has 3 wheels. The front wheel is used for steering and driving. The 2 rear wheels are free and equipped with 2 encoders. The strategy is based on 2 main purposes: the path is stored in the PLC memory and the vehicle displacemen...

This paper deals with the on-line design of a supervisor to coordinate an automated guided vehicles (AGV) fleet. This supervisor ensures the system safeness (no collision) and a good coordination between vehicles (no blocking situations). It is the least restrictive, and ensures controllability and nonblocking. We propose a compositional procedure to resolve this problem allowing an efficient o...