• 대한산업공학회지
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• 제13권1호
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• pp.11-24
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• 1987

Automatic Guided Vehicle Systems feature battery powered driverless vehicles with programming capabilities for path selection and positoning. Vehicles serve the machines in shop, following a guide path system installed on the shop floor. The basic problem in the system is to determine a fixed set of vehicle routes of minimal total distance(time) while keeping capacity and distance(time) constraints. In this paper, a heuristic algorithm is presented for scheduling the automatic guided vehicles. The algorithm routes the machines based on their distances and polor coordinate angles, taking into account the structural feature of the system. Computational experiments are performed on several test problems in order to evaluate the proposed algorithm. Finally, a framework for dealing with the case where supplies from the machines are probabilistic is described.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2009년도 공동학술대회
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• pp.149-150
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• 2009

The problem of vehicle routing problem(VRP) with pair operations of pick up and delivery are well-known in real applications in logistics networks, as in planning the routes for automatic guided vehicles(AGVs) in an automatic container terminal(ACT), warehouses or in some just-in-time services. This paper will present a formulation to modeling the problem mathematically which can be used to generate optimal routes of carried vehicles in the field to reduce the incurred cost of moving goods. This selected model could be used in (semi-)automatic short-term planning systems for vehicle fleet working in ACT, or in modern warehouses which the long list of requests is parted and sorted in preprocessing orders systems.

• International Journal of Industrial Entomology and Biomaterials
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• 제47권2호
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• pp.79-89
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• 2023

This paper is about the development results of an automatic silkworm breeding system to reduce labor and time by automatically performing the works for silkworm droppings changing and feed its food. It consists of an automatic guided vehicle and a processing unit. The automatic guided vehicle transports a silkworm dropping changing frame mounted on a silkworm tray stand, and the processing unit takes over the dropping changing frame on it, removes excrement contained the droppings changing frame and feeds silkworm food. In the case of the current silkworm farming, because the breeding period for large silkworms (4 to 5 stage) is short to 14 days and the supply of mulberry leaves takes 98% of the total amount of mulberry leaves needed for breeding silkworms at this time, labor concentration is intensive, and all breeding works depends on manpower. Therefore, it was difficult to breed large silkworms on a large scale. Moreover, silkworms are bred by adding Silkworm bed (Seop) and mulberry in the silkworm tray, and their droppings changing is to separate silkworms and excrement by moving silkworm trays one by one, and the production cost increases due to the high-cost manpower for silkworm breeding. To solve this problem, technology for automating silkworm breeding has also been developed. However, there is still a limitation that silkworm feeding and droppings changing works are not suitable for mass breeding because a lot of labor and time are spent depending on manual work. Therefore, a new silkworm breeding system for breeding silkworm automatically is needed and so we developed an Automatic Silkworm Breeding System applying the droppings change frame, the inverting unit, the feeding silkworm food device and automatic guided vehicle.

• Journal of Mechanical Science and Technology
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• 제16권2호
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• pp.137-146
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• 2002

In this paper, a path generation algorithm that uses sensor scannings is described. A scanning algorithm for recognizing the ambient environment of the Automatic Guided Vehicle (AGV) that uses the information from the sensor platform is proposed. An algorithm for computing the real path and obstacle length is developed by using a scanning method that controls rotating of the sensors on the platform. The AGV can recognize the given path by adopting this algorithm. As the AGV with two-wheel drive constitute a nonholonomic system, a linearized kinematic model is applied to the AGV motor control. An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Based on experimental results, the proposed algorithm that uses scanning with a sensor platform employing only a small number of sensors and a low cost controller for the AGV is shown to be adequate for path generation.

• 융합신호처리학회논문지
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• 제3권4호
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• pp.57-61
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• 2002

We design Collision Avoidance System using model vehicle. The purpose of this system(Collision Avoidance System) is to maintain continuously constant distance between a forward running vehicle and a following automatic guided vehicle(AGV). For this system, we design modeling of vehicle and observe this through simulation. By sing super sonic sensors to measure the distance between vehicles and controller using 80c196kc for changing velocity of motor, we design Collision Avoidance System as maintaining continuously constant distance between vehicles.

• 한국지능시스템학회논문지
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• 제21권6호
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• pp.755-760
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• 2011

본 논문은 파티클 필터(particle filter)를 이용한 레이저 내비게이션(laser navigation)의 위치측정 성능 향상에 관한 연구이다. 레이저 내비게이션은 무선항법장치(wireless navigation system)로써 무인 자율주행 장치(automatic guided vehicle)의 위치측정 및 제어에 주로 사용되며, 이는 기존의 유선유도장치(wired guidance system)들에 비해 유지보수에 유연하면서도 완전한 자율주행이 가능하다. 하지만 무선항법장치인 레이저 내비게이션은 반응속도가 느리며 고속주행 혹은 회전주행 시에 위치 정밀도가 크게 떨어지게 된다. 본 논문에서는 이와 같은 문제점을 해결하기 위해, 비선형(non-linear)/비가우시안(non-gaussian)의 시스템에서도 강인한 특성을 지닌 파티클 필터를 이용하여 위치 정밀도를 향상시키는 방법을 제안한다. 제안한 방법의 성능을 검증하기 위해, 레이저 내비게이션과 엔코더, 자이로가 장착된 지게차 AGV(automatic guided vehicle)를 사용하였으며, 제안된 방법과 상용화된 레이저 내비게이션의 위치측정 결과를 비교하였다. 실험 결과, 제안된 방법이 상용화된 레이저 내비게이션의 위치 정밀도에 비해 약 66.5% 향상됨을 확인하였다.

• 한국항해항만학회지
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• 제37권3호
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• pp.309-313
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• 2013

본 연구는 복합센서를 활용한 무인지게차의 주행 시스템에 대한 것이다. 무인지게차가 화물 이 적재를 위해 랙에 진입할 시 필요한 주행기술로 무인지게차의 위치 및 방향을 정확하게 파악하기 위해 RFID, IMU센서 및 근접센서로 구성된 복합센서 시스템을 이용하였고, 각 센서의 성능실험을 통해 특성을 파악한다. 이를 직접 설계/제작한 실험용 차량에 부착하여 복합센서 시스템을 적용하는 실험을 수행하고 이를 통해 개발된 시스템의 성능을 검증하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권2호
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• pp.140-146
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• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권4호
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• pp.307-314
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• 2013

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

• 디지털산업정보학회논문지
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• 제10권1호
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• pp.73-79
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• 2014

In this study, the unmanned vehicle to develop a preliminary step, we were facilities for Automated Guided Vehicle (AGV) simulator is designed and implemented. Industry is increasingly the more advanced automation and management systems need to be efficient. These studies are at least 24-hour continuous unmanned vehicles and personnel can result in reduction of labor costs. In addition, safety accidents can be minimized in the industry as an effect of intelligent AGV is essential. This study is the initial step for the development of AGV. manufactured simulator to Simulation and drives the performance of the system is evaluated. The configuration of the simulator, ultrasonic sensors, infrared sensors, and using the obstacle were to follow a given path. In addition, two-way communication between the host computer and the main processor that was. communication method that IEE802.11 meets the standard is applied to high-speed wireless LAN systems, each of the sensor information is calculated. AGV having a drive shaft 4 of the four wheels are respectively independent structure. AGV's main processor is driven using a high-performance DSP, and the controller controls the steering device of the load could be significantly reduced.