Problem Statement Objective Scope Introduction

4 Figure 1.3: Obstacle Detection of Automated Guided Vehicle AGV, http:www.omron-ap.co.in.

1.2 Problem Statement

Currently, trolleys on production line especially in warehouse area are being pushed by workers irregular intervals. In fact workers lead to unproductive time and cost. Therefore AGV are used out to solve the problem situation.

1.3 Objective

The aim objectives of this project are: i. To investigate the AGV technology. ii. To develop the AGV. iii. To assess the performance of AGV. 5

1.4 Scope

The scope of this project consists of three which is the AGV able to tow a trolley with a maximum load of 300Kg, the AGV operated in specific condition floor and the speed of AGV is not importance criteria but should able to complete the task given. 6 CHAPTER 2 LITERATURE REVIEW

2.1 Introduction

Autonomous Mobile Robot is an automated vehicle that is not required to operate from the operator to navigate the robot. Basically autonomous mobile robot is built with reference by physical movement of animals and human, with using simulated of software. All movements are determined in advance before the operation and the mobile robot will navigate accordingly. An autonomous mobile robot can be divided into three types of areas which is air, ground and submarine. Implementation of autonomous mobile robots such as the agriculture purpose, surveillance, military, and other applications can reduce the risk of injury and time consuming Hamid et al., 2009. Figure 2.1 shows an example of mobile robot. 7 Figure 2.1: The mobile robot sojourners that explore mars in summer 1997 Siegwart and Nourbakhsh, 2004. In the general terms the mobile robot can be defined as mobile systems equipped with sensors to interact with the external environment and navigate with it when trying to achieve several objectives. There are several mobile robots that can change their location through movements such as Automatic Guided Vehicles AGV. Figure 2.2 shows an AVG that are used to transport a motor blocks from the assembly station to another Roland Siegwart and Illah R. Nourbakhsh, 2004. Figure 2.2: An Automated Guided Vehicle AGV Siegwart and Nourbakhsh, 2004. 8 Refer to the American scientist and author Isaac Asimov wrote a novel that titled Run- around where the word Robotics was used for the first time in 1942. He tried to describe the technology of robots, and also to protect people and limit the impact that the robot will result in a future society. Hence, Asimov defined three laws: i. A robot may not injure a human, or allow a human being to be injured. ii. A robot must follow any order given by a human being that does not conflict with the first law. iii. A robot must protect itself unless such protection conflicts with the first or second laws. According to the Robot Institute of America 1979, a robot is defined as a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks. For the Japanese Industrial Robot Association JIRA, robots are divided into the following six classes, which are: Class 1: Manual handling device: a device with several degrees of freedom actuated by the operator; Class 2: Fixed sequence robot: handling device which performs the successive stages of a task according to a predetermined, unchanging method, which is difficult to modify; Class 3: Variable sequence robot: the same type of handling device as in class 2, but the stages can be modified easily; Class 4: Playback robot: the human operator performs the task manually by leading or controlling the robot, which records the trajectories. The information is recalled when necessary, and the robot can perform the task in the automatic mode; 9 Class 5: Numerical control robot: the human operator supplies the robot with a movement program rather than teaching it the task manually; Class 6: Intelligent robot: a robot with means to understand its environment, and the ability to successfully complete a task despite changes in the surrounding conditions under which it is to be performed. However, it is different with Robotics Institute of America RIA view. The only considers the machines which are at least in class 3 as robots. They defi ne “robot is a re- programmable, multifunctional manipulator or device designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

2.2 Application Of Mobile Robots