AGV

Inductive Wire-guided
Laser guided
Optical
Inertial
Infrared
Magnetic spot guidance

Inductive wire guidance

Inductive wire guidance

The inductive wire AGV guidance method is
based on the basic principle of generation of
a magnetic field around a conductor as a
result of current flowing through it. This
magnetic field is stronger around the
conductor and weaker away from the
conductor. An electromotive force
proportional to the strength of the magnetic
field is generated at the end terminal of the
coil when current passes through it.

Inductive wire guidance

When an AGV is positioned at the
centre of an inductive wire that is
placed under the ground, maximum
voltage is induced, while minimum or
no voltage is induced at the left and
right coils symmetric to the reference
point (centre) of the inductive wire.

Inductive wire guidance

This method has the advantage of
enabling navigation through accurate
position tracking; moreover, precise
position control is possible. However,
its implementation cost is extremely
high because the floor surface has to
be cut for navigation guidance and
wire has to be embedded in the floor.
Moreover, periodic maintenance is
required and it is difficult to make

Laser guidance navigation

Laser guidance navigation involves
the use of laser beams for the AGV
navigation; laser beam reflections
from a reference point are detected
by a scanner, which measures the
distance and angle to each target
location. The output coordinates are
marked on a control board, and the
location of the AGV is computed for
its navigation.

Laser guidance navigation

In this method, the floor surface does
not have to be cut, and moreover, it
is not restricted by the floor
condition; further, free navigation of
the AGV in the visual field between
the sensor and reference patterns is
possible

Laser guidance navigation

However, the method is limited by
increases in the system cost;
moreover, the precision of position
control is influenced by the nature of
the surrounding environ- ment, such
as height, distance to the reflector,
presence of interfering obstacles,
and narrow navigation areas. For
instance, as the distance to the
reflector increases, the position

Optical:
Colorless florescent particles
are painted on the
concrete/tiled floor.
Photosensors are used to track
these particles

Inertial:
The guide path is programmed on a
microprocessor which is fixed on
the AGV
Sonar system is incorporated for
finding obstacles.

Infrared:

Infrared light transmitters are

used to detect the position of
the vehicle.
Reflectors are affixed on the
top of vehicle to reflect the
light.

magnet spot guidance navigation

method

magnet spot guidance navigation

method
a magnet spot is installed on the
floor surface of an AGV navigation
system, and a Hall-effect sensor is
used for the measurement of the
magnetic flux density from the
magnet spots. The maximum value
of the magnetic flux density is used
for the navigation guide.

Visual servoing guidance

Visual servoing guidance navigation

with camera monitoring
The visual servoing guidance
navigation method with camera
monitoring identifies the position of a
landmark relative to AGV, and it
requires accurate camera corrections
for the target localisation. If this
requirement is not met, there can be
problems of localisation errors due to
incorrect mapping from an image
space to workspace.

 In addition, if the error in the

mapping of a landmark image is
serious, there can be a problem of
unwarranted movements of the AGV
in the workspace

AGVS Routing
A routing system is used to select the
vehicle which is positioned with the
optimum path.
A network controller gives the
destination, while the on-board
controller navigates the vehicle.
Commonly used methods:
Frequency select method
Path-switch select method

Frequency select Method

At the bifurcation of path (decision
point), the vehicle reads a code in
the floor in the form of metal plate,
or coded device.
The vehicle selects one of the
frequencies as per the direction
required.
The frequencies are always active.
A continuous wire is used to loop the
frequencies.

Path-Switch Select Method

Path is divided into segments.
One frequency is used
Segments are switched On/Off by
separate floor controls according to
the path to be followed.
Less preferred over Frequency select
method.