iv
TABLE OF CONTENT
Abstract i
Abstrak ii
Acknowledgement iii
Table of Content iv
List of Figures vii
List Abbreviations ix
1.0 INTRODUCTION
1
1.1 Project Introduction
1 1.2
Objective 2
1.3 Scope
2 1.4
Problem statement 3
1.5 Conclusion
3
2.0 LITERATURE REVIEW
4
2.1 What is AGV?
4 2.2
Types of AGV 5
2.3 Expert Systems
9 2.3.1
The Structure of Expert System 11
2.3.2 Knowledge Engineering
13 2.3.3
The Inference Engine 15
2.3.4 How Expert Systems Explain Their Reasoning
16 2.3.5
Confidence Estimates 17
2.4 Obstacle Avoidance Method
17 2.5
Conclusion 19
v
3.0 METHODOLOGY
20
3.1 Introduction
20 3.2
Development planning 21
3.2.1 PSM 1 Gantt Chart
21 3.2.2
PSM 2 Gantt Chart 22
3.2.3 Development Process Flowchart
23 3.2.4
Development Process Flowchart Explanation 24
3.2.5 Programming Flowchart for Path Planning and Obstacle Avoidance
25 3.2.6
Programming Flowchart for Path Planning and Obstacle Avoidance Explanation
26 3.2.7
AGV Platform Drawing 27
3.3 Parts selection
28 3.3.1
Mechanical Structure Parts 28
3.3.1.1 Tire 28
3.3.1.2 Acrylic sheet for AGV Platform chassis 29
3.3.1.3 Aluminium Square Tube 30
3.3.2 Electrical and Electronic Parts
31 3.3.2.1 Multimeter
31 3.3.2.2 Battery
32 3.3.2.3 DC Motor
33 3.3.2.4 Microcontroller
34 3.3.2.5 Ultrasonic transducer
35 3.3.2.6 Infrared transducer
36 3.3.2.7 Light Emitting Diode LED
37 3.3.2.8 Transistor
38 3.3.2.9 Resistor
39 3.3.2.10 Potentiometer
40 3.3.2.11 Capacitor
41 3.3.2.12 Wire
42 3.3.2.13 Printed Circuit Board PCB
43 3.3.2.14 Voltage Regulator
44 3.3.2.15 Diode
45 3.4
Method of Manufacturing 46
3.4.1 Machining Method
46
vi 3.4.1.1 Laser Cutting Machine
46 3.4.1.2 Lathe Machine
48 3.4.1.3 Milling Machine
49 3.4.1.4 Horizontal Bandsaw Machine
50 3.4.2
Soldering Method 51
3.4.2.1 Soldering Iron 51
3.4.2.2 Solder Sucker 52
3.4.2.3 Flux core Solder 53
3.4.2.4 Wire Stripper 54
3.5 Method of Programming
55 3.5.1
C programming 55
3.5.1.1 Programming a PIC using C language 56
3.5.1.2 Compiler for C language 56
3.6 Conclusion
57
4.0 RESEARCH AND DEVELOPMENT
58
4.1 AGV platform development
58 4.1.1
Tire coupling design 59
4.1.1.1 Tire coupling machining process 61
4.1.2 AGV chassis design
63 4.1.2.1 AGV chassis fabrication
64 4.1.2.2 AGV chassis assembly
65 4.2
AGV electronic circuit development 66
4.2.1 Line sensor circuit
66 4.2.1.1 Line sensor circuit development
68 4.2.2
Obstacle sensor circuit 70
4.2.3 Motor driver circuit
74 4.3
Programming development 76
4.3.1 Operational flowchart for AGV
76 4.3.2
Programming flowchart for AGV 76
4.3.3 Write program using MPLAB IDE
79 4.3.4
Programming using C language 83
4.3.4.1 AGV logic input for programming 85
4.3.4.2 AGV programming writes in C language 86
vii 4.3.5
PIC programmer 86
4.4 Conclusion
92
5.0 RESULT AND DISCUSSION
