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DEVELOPMENT of a NAVIGATION SYSTEM for an AUTONOMOUS GUIDED VEHICLE USING ANDROID TECHNOLOGY By

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DEVELOPMENT of a NAVIGATION SYSTEM for an AUTONOMOUS GUIDED VEHICLE USING ANDROID TECHNOLOGY By View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by South East Academic Libraries System (SEALS) DEVELOPMENT OF A NAVIGATION SYSTEM FOR AN AUTONOMOUS GUIDED VEHICLE USING ANDROID TECHNOLOGY By Christo Johannes Snyman 20327539 Dissertation presented towards the complete fulfilment of Masters of Engineering: Mechatronics The Faculty of Engineering, the Built Environment and Information Technology: Department of Mechatronic Engineering Supervisor: Prof. Theo van Niekerk December 2012 DECLARATION This thesis is a representation of my original work and I have not previously in its entirety or in part submitted it for obtaining any qualification. Wherever contributions of others are involved, every effort is made to indicate this clearly, with due reference to the literature and acknowledgement of collaborative research and discussions. Signature: ……………………………………… C.J. Snyman Date: ............................................................. I | P a g e ABSTRACT Modern cell phone hardware, due to its integrated peripherals, provides a low cost intelligent controller for use in the navigation of an Automated Guided Vehicle (AGV). Most commercial AGV’s use proprietary hardware which is expensive to replace and also difficult to maintain. Using industrial hardware components combined with Android mobile platforms could provide a low-cost alternative. This would be easier to maintain, using existing in-house factory maintenance knowledge. A prototype AGV was designed and developed based on an integrated system between an industrial Programmable Logic Controller (PLC) and an Android operating system mobile platform. This system utilises the mobile platforms integrated Global Position System (GPS) or video camera as tools for navigation. Experimental tests were performed to determine whether the prototype can navigate a predefined course by making use of GPS and camera line following algorithms. The accuracy of the line following algorithm was influenced by the speed at which the research AGV moved. Mounting the Android camera higher above the ground improved the vision and therefore accuracy of the algorithm. The GPS algorithm successfully navigated to various waypoints. The accuracy of the implemented GPS unit on the Android device is its limitation. The research unit was only capable of reaching a waypoint consistently within a three-metre radius. II | P a g e ACKNOWLEDGEMENTS I would like to express my sincere gratitude to the following individuals and institutions that assisted me throughout this project: VWSA / DAAD International Chair in Automotive Engineering for funding the research and giving me this opportunity. Prof Theo van Niekerk, my supervisor, for his continuous guidance and support during this project. Mr Cecil Frost, for his guidance and assistance in the manufacturing of the mechanical parts of the project. My three brothers, Gerhard, Anton and Pieter Snyman, who provided continuous encouragement. Piet and Christien Snyman, my parents, without whom this would not have been possible. The Lord Almighty, with whom everything is possible. III | P a g e TABLE OF CONTENTS DECLARATION ..................................................................................................................................... I ABSTRACT ........................................................................................................................................... II ACKNOWLEDGEMENTS .................................................................................................................. III TABLE OF CONTENTS ..................................................................................................................... IV LIST OF FIGURES ............................................................................................................................ VIII LIST OF TABLES ................................................................................................................................ IX LIST OF EQUATIONS ......................................................................................................................... X NOMENCLATURE .............................................................................................................................. XI 1 CHAPTER 1: INTRODUCTION ............................................................................................. 1 1.1 BACKGROUND .................................................................................................................... 1 1.2 MECHATRONICS SYSTEMS ............................................................................................ 1 1.3 AUTOMATED GUIDED VEHICLES .................................................................................. 2 1.4 ANDROID OPERATING SYSTEM .................................................................................... 3 1.5 OVERALL AIM ...................................................................................................................... 4 1.6 OBJECTIVES ........................................................................................................................ 4 1.7 HYPOTHESIS ....................................................................................................................... 5 1.8 RESEARCH METHOADOLOGY ....................................................................................... 5 1.9 DELIMINATION OF RESEARCH ...................................................................................... 5 1.10 SIGNIFICANCE OF RESEARCH ...................................................................................... 6 1.11 OUTLINE OF THE DISSERTATION ................................................................................. 6 2 CHAPTER 2: LITERATURE REVIEW OF AGV TECHNOLOGY ..................................... 8 2.1 AGV TYPES .......................................................................................................................... 8 2.1.1 FORK LIFT’S ................................................................................................................. 8 2.1.2 UNIT LOAD’S ................................................................................................................ 9 2.1.3 TUGGERS ..................................................................................................................... 9 2.1.4 FARMING EQUIPMENT ............................................................................................. 9 2.1.5 AEIRIAL AGV’S ............................................................................................................ 9 2.1.6 OTHER ......................................................................................................................... 10 2.2 AGV DRIVE AND STEERING TECHNIQUES............................................................... 10 2.2.1 CRAB STEERING ...................................................................................................... 11 2.2.2 SINGLE DRIVE SEPARATE STEERING ............................................................... 11 2.2.3 DIFFERENTIAL STEERING ..................................................................................... 12 IV | P a g e 2.2.4 STEERING TECHNIQUES CONCLUSION ........................................................... 13 2.3 AGV SAFETY ..................................................................................................................... 13 2.3.1 BUMPERS ................................................................................................................... 14 2.3.2 LASER SCANNERS .................................................................................................. 15 2.3.3 INFRARED SENSORS .............................................................................................. 16 2.3.4 ULTRASONIC SENSORS ........................................................................................ 16 2.4 BATTERY TECHNOLOGY ............................................................................................... 16 2.4.1 SEALED LEAD ACID (SLA) ..................................................................................... 17 2.4.2 NICKEL CADMIUM (NiCad) ..................................................................................... 17 2.4.3 NICKEL METAL HYDRIDE (NiMH) ......................................................................... 17 2.4.4 ALKALINE ................................................................................................................... 17 2.4.5 LITHIUM ION .............................................................................................................. 18 2.5 HARDWARE CONTROLLERS ........................................................................................ 18 2.5.1 MICROCONTROLLER .............................................................................................. 18 2.5.2 PROGRAMMABLE LOGIC CONTROLLER (PLC) ............................................... 19 2.5.3 PERSONAL COMPUTER (PC) ................................................................................ 19 2.5.4 HARDWARE CONTROLLERS: CONCLUSION ................................................... 20 2.6 ELECTRICAL MOTORS ................................................................................................... 20 2.6.1 DC MOTORS .............................................................................................................. 20 2.6.2 SERVO MOTORS .....................................................................................................
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