抄録
High accuracy, high response guidance and high steering mechanism response at high speed are required to improve the travelling characteristics of an unmanned delivery cart (AGV: Automatic Guided Vehicle), which is a component of modern FA systems.
In this paper, an image sensor guidance scheme and steering mechanism for a high-speed AGV are developed considering limit velocity for stable travel and control system stability. Factors which effect on steering characteristics are examined through computer simulation and experiments. An Image sensor guidance scheme is considered by examining with an equivalent image sensor.
The sensor is attached to the steered and driven wheel, and detects a pre-set route by following guiding tape bonded to the floor.
In the experiment, the developed high-speed AGV is 100kg load rated. The high-speed AGV was verified to travel smoothly on straight routes at 120m/min, and on curved routes at 60m/min with as little as ±5mm amplitude and 1sec. period hunting motion, which is less than the guiding tape width.
