Speed Control of an Automatic Guided Vehicle
Keywords:
Mobile robot, speed control, data packets, Control Path, encapsulation/decapsulation, Pulse Width Modulation (PWM)Abstract
We design, implementation and experimental results of an effective data communication protocol implemented on a distributed PIC microcontroller architecture based Automated Guided Vehicle (AGV) named ROVER II (Roaming Vehicle for Entity Relocation) is presented. The main objective of the research was to design and implement a seven-bit speed control signal for ROVER II’s speed and position control allowing for one percent duty cycle increment. In addition, we propose a decision framework for design and implementation of automated guided vehicle systems, and suggest some fruitful research directions. To keep track of the matching result of both positions, the estimated position information used to update the vehicle’s position by using the Kalman Filtering (KF) algorithm. Test performance is verified with accurate positioning control by experimentation.
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