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CHAPTER 1
INTRODUCTION
1.1 Project Introduction
This project is about a research and development of AGV programming and platform. The programming is developed using suitable language such as C program and
assembly language. Mostly the programming consists of path planning and obstacle avoidance method. Obstacle avoidance is based on rule-base expert system. The
developed AGV platform is a basic platform where it is suitable for a study of path planning and obstacle avoidance programming. The program will be compiled into
hex files and downloaded into peripheral interface controllers PIC and the PIC will be attached to a microcontroller. The AGV platform had been developed based on a
basic robot parts such as mechanical part, electrical and electronic part, and programming part. To develop the AGV platform, the use of suitable machine for
machining process and non machining process like fabrication was made compulsory. As for AGV circuit, basic electronics component such as resistor, transistor,
capacitor, potentiometer and others has been used. After the entire robot parts finish being assembled to form the AGV platform, it had been test for the obstacle
avoidance program and the program had been observed to work in the real situation.
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1.2 Objective
Objectives of this project:
To learn and understand what is Automated Guided Vehicle AGV.
To develop basic mobile robot platform represented as AGV.
To develop electronics circuit for AGV.
To develop AGV programming for obstacle avoidance method.
1.3 Scope
Scope that is covered for this project:
Mechanical design for AGV platform.
Mechatronics for AGV circuits.
Sensors for AGV.
Programming language for PIC.
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1.4 Problem statement
From the industrial training experienced, author has been involved in a kit delivery project for chassis A and B assembly line at Isuzu HICOM Malaysia Sdn. Bhd. The
project is mainly involved in constructing a guide tape made for two automated guided vehicle AGV which the company bought from Japan. These two AGVs
were modified at Engineering Workshop so that it becomes a towing AGV. The main task of the AGV is to deliver a kit dolly rack that is filled with assembly components
for HICOM Perkasa truck and ISUZU D-MAX pickup. However, there are a few problems and shortage encounter by both AGV such as being hitting by a transverser,
can’t move backward, do not move automatically after an operator from the assembly line pick the rack, non path planning programming, non obstacle avoidance
programming, non sequence programming and missing guide tape on the floor. All of these problems sometimes delay the delivery routine. Operators have to replace
the delivery task if any of the problems occurred to the AGV. Since the company reduces the workman power, the used of AGV is really necessary and reliable for
delivery task. AGV is a costing mobile robot where a basic AGV can cost for almost RM5000 for industrial applications. Thus to reduce the cost, the company is planning
to build its own AGV from scratch refer Appendix A for project cost.
1.5 Conclusion
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