![]() The encoder calculates the speed of AGV on four wheels, and the encoder obtains the steering angle and angular speed on the steering shaft. This AGV has four wheels, with the steering control system, which is driven by a permanent magnet DC motor besides, the active deceleration of AGV is to drive the stepping motor to control the cable connected to the brake golf car pedal. showed a fuzzy logic control (FLC) with uncoupled vertical and horizontal control for a golf car as the AGV. Reviewing published research about the AGV controlling part shows,Kodagoda et al. But other than the shape, the control section is known as one of the main issues investigated by various researchers over the years. Based on their application and role as service robots, these robots can be categorized in various shapes and structures, from dual-wheel to worm shapes. AGVs consist of three main parts: the frame and its installed device, models and sizes, and the navigation and actuator systems. The AGVs are used in various applications, and recently due to COVID-19 restrictions, AGVs' demand is increased in various applications to provide better service and assistance in hotels, hospitals, restaurants, assist patients, etc., during the lockdowns around the world. ![]() These improvements open up an opportunity for researchers to investigate the limitations that AGV robots may bring. Based on history, AGVs introduced in 1953 are known as comparatively older inventions, but regardless of their age, the increasing applications show the increased demand in the industry and are being improved by AI day by day. Therefore, concerning the limited test on the real platform and using the PID coefficients obtained from the simulation shows the model's ability for the researchers in robotic research.Īutomated Guided Vehicles (AGVs) play a pivotal role in robotics and have become an indispensable part of it. Finally, the analysis of results in different paths in both simulators shows the same results. In general, the maximum error is linked to the path of 8 shapes and the minimum is related to circle shape one. But in general, the BAS algorithm is the fastest, and the PSO had better performance. Based on the results, the empirical methods, PSO, and BAS errors are very close together. Finally, a series of subsequent experiences were carried out in CoppeliaSim (VREP) as a famous robot simulator to overcome the environmental constraints for the same paths that were used in Matlab based on the extracted PID values. Then, for controlling the platform based on the PID controller tuning, four methods of Ziegler Nichols, empirical, Particle Swarm Optimization (PSO), and Beetle Antennae Searching (BAS) (optimizer) are discussed, and the results are compared in the four paths including the circle, ellipse, Spiral and 8-shaped paths by observing and testing the tuned PID parameters. In this study, based on the actual design of the AGV system, all data and components are described, and the simulation is performed in MATLAB software. Using various techniques and simulations to obtain a model is the key and can help to improve and evaluate the performance of the strategy of the robot. The part that affects AGV performance is the control strategy, to which researchers have shown different approaches. The main part of an AGV includes its body, motor, driver, processor, and sensors, which are more or less the same in all types of AGVs, and addons vary depending on the application and the work environment. Even recently, they have been used in libraries to carry books on shelves. The group's use in the industry ranges from applications for carrying pallets, carts, and utensils to helping the elderly or transporting medicine to hospitals. Automated guided vehicles (AGVs) are popular subsets of robots that come in various shapes and sizes.
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