An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles

Murelitharan, Muniandy and Kanesan , Muthusamy (2012) An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles. Advanced Materials Research (AMR), 383-390. ISSN 1022-6680

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The automated guided vehicle (AGV) is a key component for the successful implementation of flexible manufacturing systems (FMS). AGVs are wheeled mobile robots (WMR) employed for material handling in the constantly evolving layouts of these modern factory shop floors. As such their ability to navigate autonomously is an equally important aspect to sustain an efficient manufacturing process. However, their mobility efficiency is inherently affected by the unproductive systematic and non-systematic odometry errors. Odometry errors mainly occur due to the mobility configuration of the AGV drive train and the surface characteristics the robot is interacting with. Odometry error accumulates over the distance traveled and leads to severe dead reckoning inaccuracy if the robot’s feedback control mechanism is unable to correct the error fast. This paper proposes an innovative drive train mechanism called dual planetary drive (DPD) that will minimize odometry errors without the need for complex electronic feedback control systems. (Abstract by authors)

Item Type: Article
Additional Information: Selected, peer reviewed papers from the 2011 International Conference on Manufacturing Science and Technology, (ICMST 2011), September 16-18, 2011, Singapore.
Uncontrolled Keywords: wheeled mobile robots, automated guided vehicle, odometry error, dead reckoning, planetary gear train, dual planetary drive.
Subjects: T Technology > TS Manufactures
Divisions: Faculty of Science and Technology
Depositing User: Shahril Effendi Ibrahim
Date Deposited: 14 Oct 2011 06:12
Last Modified: 14 Oct 2011 06:12

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