레이저 유도 시스템을 이용한 AGV의 경로추적

박정재; 김정민; 도주철; 김성신; 배선일

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자료유형: 학술저널

저자정보: 박정재 (부산대학교) 김정민 (부산대학교) 도주철 (부산대학교) 김성신 (부산대학교) 배선일 (아티스)

저널정보: 한국로봇학회(논문지) 로봇학회 논문지 로봇공학회 논문지 제5권 제2호

발행연도: 2010.6

수록면: 120 - 126 (7page)

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This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

#AGV #Path Tracking #Guidance System #Driving Control #Autonomous

참고문헌 (10)

참고문헌 신청

1. [단행본] - M.P.Groover / 2002 / Automation, Production Systems and Computer-Integrated Manufacturing / sigma press

3. [학술지(정기간행물)] - J.Borenstein / 2000 / The OmniMate: A Guide wire-and Beacon-free AGV for highly Reconfigurable Applications / International Journal of Production Research 38 (9) : 1993 ~ 2010

4. [보고서] - C.Y.Chan / 2002 / A System Review of Magnetic Sensing System for Ground Vehicle Control and Guidance

5. [학술대회논문] - Y.Pang / 2008 / Bipolar magnetic positioning system for automated guided vehicles / Intelligent Vehicles Symposium 2008 IEEE : 883 ~ 888

8. [학술지(정기간행물)] - 송종화 / 2010 / 차량 움직임 정보를 이용한 GPS/DR 차량항법시스템 성능향상 / 로봇학회 논문지 5 (1) : 55 ~ 63

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