• The Journal of Korea Robotics Society
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• v.10 no.2
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• pp.112-118
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• 2015

This paper proposes a pose-graph based SLAM method using an upward-looking camera and artificial landmarks for AGVs in factory environments. The proposed method provides a way to acquire the camera extrinsic matrix and improves the accuracy of feature observation using a low-cost camera. SLAM is conducted by optimizing AGV's explored path using the artificial landmarks installed on the ceiling at various locations. As the AGV explores, the pose nodes are added based on the certain distance from odometry and the landmark nodes are registered when AGV recognizes the fiducial marks. As a result of the proposed scheme, a graph network is created and optimized through a G2O optimization tool so that the accumulated error due to the slip is minimized. The experiment shows that the proposed method is robust for SLAM in real factory environments.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.654-659
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• 2007

This paper proposes the effective method for classifying the working spates and modelling the environments, when complex working environments of AGVS(Automated Guided Vehicle System) ate changed. And, we propose the shortest path searching algorithm using the A* algorithm of graph search method. Also, we propose the methods for finding each AGV's travel time of shortest path. Finally, a simple example is included for visualizing the feasibility of the proposed methods.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.155-163
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• 2023

Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1999.04a
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• pp.306-307
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• 1999

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.218-219
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• 2011

This paper focuses on dispatching strategy for AGVs(Automated Guided Vehicle). The goal of AGV dispatching problem is allocating jobs to AGVs to minimizing QC delay and AGV total travel distance. Due to the highly dynamic nature of container terminal environment, the effect of dispatching is hard to predict thus it leads to frequent modification of dispatching results. Given this situation, single rule-based approach is widely used due to its simplicity and small computational cost. However, single rule-based approach has a limitation that cannot guarantee a satisfactory performance for the various performance measures. In this paper, dispatching strategy based on multicriteria heuristics is proposed. Proposed strategy consists of multiple decision criteria. A muti-objective evolutionary algorithm is applied to optimize weights of those criteria. The result of simulation experiment shows that the proposed approach outperforms single rule-based dispatching approaches.

• Korean Management Science Review
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• v.11 no.1
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• pp.1-21
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• 1994

We usually use the simulation technique in the evaluation and the test of a design alternative of Automated Guided Vehicle System. In this paper, we introduce a simulation code generator which can assist simulation programmer in model development and programming. It consists of user interface, program editor, and program sorter. SIMAN is used as the target language.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.499-505
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• 2004

In this paper, we studied about AGVs modeling and material handling automation simulation using a virtual AGV. The proposed virtual AGV model that operates independently each other is based on a real AGV. Continuous straight-line and workstation model using vector drawing method that could easily, rapidly work system modeling are suggested. Centralized traffic control, which could collision avoidance in intersection and should not stop AGV as possible, and algorithm for detour routing which performs when another AGV is working in pre-routed path are proposed. The traffic control and the algorithm have been proved efficience by simulation.

• Journal of Korean Institute of Industrial Engineers
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• v.29 no.1
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• pp.1-13
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• 2003

In this paper, LAC(Look-ahead AGV Controller) has been developed for efficient routing of parts in semiconductor and LCD production systems. Several procedures have been developed as sub-modules. LACP(Look-ahead AGV Control Procedure) which controls AGVs using the information on the current and future status of the systems is the main element of the LAC. To support LACP, DSP(Destination Selection Procedure) which determines a destination of a part and AGV call time, SSP(Source Selection Procedure)which selects a part coming next to a buffer when the buffer becomes available. and RTM(Response Time Model) which estimates empty travel time of AGVs and waiting time for an available AGV have been developed. A simulation experiment shows that LAC reduces part's flow time, AGV utilization, average and maximum inventory level of a central buffer, empty travel time of an AGV, and waiting time for an available AGV.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.387-392
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• 2006

In the environment where AGVs(Automated Guided Vehicles) operate concurrently in limited space, collisions. deadlocks, and livelocks which have negative effect on the productivity of AGVs occure more frequently. The accelerated motion of an AGV is also the factor that make the AGV routing more difficult because the accelerated motion makes it difficult to estimate the vehicle's exact travel time. In this study, we propose methods of avoiding collisions, deadlocks, and livelocks using OAR(Occupancy Area Reservation) table, and selecting best route by estimating the travel time of an AGV in accelerated motion. A time-driven simulation validated the effectiveness of the proposed methods.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.132-138
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• 2014

The use of AGVs(Automated Guided Vehicles) are increasing in many factories. The most widely used AGV system is that magnetic tapes are attached on the factory floor to make guided path and an AGV equipped with a magnetic sensor follows the path by sensing magnetic flux. In this AGV system, usually a magnetic sensor is attached on the front end of an AGV to detect the guided path and the sensor generates analog voltages proportional to the magnetic flux. The problem is that the AGV in use has rather big tracking errors because the accurate orientation of the AGV can not be detected by using only one magnetic sensor. In this paper, we propose a method to minimize the path tracking errors. In our method, one additional sensor is attached on the rear end of the AGV to estimate the orientation of the AGV and to control more accurately the AGV according to the estimated orientation of the AGV. We performed several experiments and the results successfully show the feasibility of the proposed method.