Design of Agv With Mobile Communication: Article
Design of Agv With Mobile Communication: Article
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Shivraj Yeole
VNR Vignana Jyothi Institute of Engineering & Technology
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VNR Vignana Jyothi Institute of Technology, VNR Vignana Jyothi Institute of Technology, MVSR Engineering College
Email: [email protected], [email protected], [email protected]
Abstract- Automatic guided vehicles (AGVs) that run automatically and are controlled by computers have been used in a
wide range of fields and applications, such as on factory production floors, in warehouses, and in distribution centres, and
have received more attention as a mode of transportation because they do not produce CO2 emissions that harm the
environment. Due to the abundant availability of human labour at lower costs, these are rarely implemented in India. Even
then implementing AGVs will bring many benefits to the organization like improved safety, reliability and efficiency. The
design of AGV can be quite challenging and the cost and performance of the system are greatly impacted. The main
objective of this work is to design and develop a cost effective AGV. This paper presents the design of AGV and its control
using ATmega16, along with its fabrication which is a line follower. The robot is reprogrammable and changes can be made
so it suits the real industrial environment. It is allowed to follow accurately the magnetic tape path laid along the flat floors.
Test runs are conducted by programming for a predesigned path providing it with an imitating industrial environment and
also obstacles in its path. PID control is also included in this vehicle for smoother movements along the path.
A. Microcontroller
Fig.1 Pin Diagram of ATmega16 Microcontroller
A microcontroller is a small computer on a single
integrated circuit containing a processor core, a FEATURES:
memory unit and programmable input/output Advanced RISC Architecture
peripherals. They perform actuating function of an 131 Powerful Instructions
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International Journal of Advances in Electronics and Computer Science, ISSN: 2393-2835 Volume-2, Issue-5, May-2015
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International Journal of Advances in Electronics and Computer Science, ISSN: 2393-2835 Volume-2, Issue-5, May-2015
that the vehicle slows down if it comes across an V. COMMUNICATION BETWEEN USER
obstacle. AND AGV SYSTEM
Depending on the signals given by sensors either both As we have stated earlier that user (operator)
the motors work in the same direction or one of the loads the AGV for the stations. It is sent by calling
motor works while the other motor reverses its the AGV and has to give input in the following way.
motion. When one motor works and the other motor • Input :S1*I1*Q1#S2*I2*Q3##
reverses, then this condition causes the AGV to turn HereS1 and S2 are the stations where delivery of
in the direction of the motor which has reversed. loads is to be done. I1 and I2represent the item that
When both the motors continue to work in forward has to be transferred for their respective stations S1
direction then the AGV will move in a straight path. and S2. Q1 and Q2 represent the quantity of the loads
Thus making use of these conditions the AGV is I1 and I2 respectively. ‘*’ symbol separates the
made to follow the pre-defined path. station, item name and its quantity, ‘#’ separates
inputs and ‘##’ indicates the end of input and the
IV. LINE DETECTION AND OBSTACLE AGV starts once this is typed.
AVOIDANCE Ex: 1*5*3#2*4*5##
So from the above input the user enters station
The system is provided with an array of sensors numbers separated by #, item to be loaded or
for path tracing and obstacle detection in the front. 8 unloaded, the quantity of the item required each of
pairs of IR receiver and transmitter are used for this them separated by * and any number of points can be
purpose. These IR sensors sense the track using the given in any order. ## is pressed to instruct AGV
light reflected from the black line on a light system to stop receive number from DTMF decoder
background. The sensors then depending on the and all the point received are stored in sorted stack
position send the signals to the Micro-Controller. The (array).
signals are processed and depending on the signals This raw data is received by the DTMF decoder
received the microcontroller gives the corresponding which is given to the microcontroller to convert into
output to the motor control module such that the station numbers. As we know each number pressed in
AGV continues to follow the path. the mobile has different frequencies and DTMF
According to their detection, the black path is decoder differentiates them and sends the
traced along the layout and the vehicle keeps on corresponding binary codes to the microprocessor and
moving till it reaches its destination as per the the microprocessor manipulates the input and sends
communication code. In this way the vehicle commands to the AGV.
continues to follow the pre-defined path which is a
black line on a white background. V. PROGRAMMING THE AGV
Ultrasonic sensor is used for obstacle detection
purpose. This sensor converts the distance into Most commonly used language for programming
corresponding analog voltage, which is converted to microcontrollers is Assembly, but for this design
digital by microcontroller using ADC (Analog to embedded C language is considered, being much
Digital Conversion) conversion. The converted digital faster and easier than Assembly languages.The
value is decoded to distance using a formula. programming for AVR ATmega microcontrollers is
Whenever the vehicle encounters an obstacle along done in Embedded C language as it is simple in
its path, it is programmed to slow down or halt if the understanding and can be used by any user with basic
obstacle is not removed for a longer duration, to save programming skills. Also it easy to develop and
battery life. A buzzer is provided for emergency maintain in this language whose execution is faster.It
indications. provides a single development platform for Atmel’s
8-bits, 32-bits and ARM Cortex-M families of AVR
microcontrollers. AVR studio 6 is a full software
development environment with an editor, simulator,
programmer, etc.It comes with its own integrated C
compiler, the AVR GNU C Compiler (GCC)
eliminating a third party C compiler.
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International Journal of Advances in Electronics and Computer Science, ISSN: 2393-2835 Volume-2, Issue-5, May-2015
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International Journal of Advances in Electronics and Computer Science, ISSN: 2393-2835 Volume-2, Issue-5, May-2015
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