Developing an AGV motion controller using simulation, emulation and prototyping

Today transport systems using automated guided vehicles (AGVs) are centrally controlled and use a fixed infrastructure. Substantial efforts are therefore necessary if expansion or a change in system layout is required. In addition, incidents cannot be handled as part of the common routine. To overcome these problems a distributed anticipatory control method for AGVs is called for. According to this method every AGV is made responsible for its own path planning and collision avoidance. This approach requires a highly accurate controller to enable the AGV to follow its planned trajectory. This paper describes the development and testing of a controller for both positional and speed control. The AGV is modelled as a simple system with two steering wheel axles and an electromotor. The theoretical results obtained by using Matlab, are compared with results from testing the controller using an emulation model. Finally, the controller is implemented on an actual vehicle prototype, scaled 1:25, representing an AGV used for sea-container transport. The results of this research can be used to develop a controller, which is capable of achieving the required accuracy for automated, large scale, container transport systems.