Speed control system design using fuzzy-pid for load variation of automated guided vehicle (AGV)

The stability of the movement of an Automated Guided Vehicle (AGV) directly affects the safety of the delivered goods. Variation of loads during the delivery process is one of causes of the instability movement of an AGV. This research discusses the design and implementation of the AGV's speed control system to tackle the load and contour variation using Fuzzy Inference System integrated with PID method. The input of the system comes from speed and tilt sensors near the AGV's wheels. This information is then processed by Fuzzy Inference System whose output are data about the AGV's speed and the parameter values for the proportional, integral, and derivative (PID) controller. In the experiment we operated the AGV in a real industrial condition with variation of loads. The result shows that the AGV can automatically move in a nearly constant speed of 10 meter per minute regardless of the AGV's load.