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Obstacle avoidance in AGVs: Utilizing Ultrasonic sensors
University West, Department of Engineering Science, Division of Mechanical Engineering and Natural Sciences.
2016 (Swedish)Independent thesis Advanced level (degree of Master (One Year)), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

Today, there are industries that utilize AGVs to transport goods and materials from one location to another. For smaller scale industries it is costly to have a custom made AGV for their manufacturing unit, so they modify the shape of an AGV to accommodate the necessity of carrying and transporting goods. When the shape of an AGV is modified the built-in sensors will not detect the change in shape of the AGV. Hence, there is a risk that the AGV may collide with objects. Also in some AGVs floor sensors are missing to detect the presence of floor/no floor in front of the AGV, which can be a hazardous situation as there are chances of the AGV falling off from the surface. An example of such an AGV is the Patrolbot which can travel around in an industrial premise wirelessly, but needs addition of such sensors to avoid collisions with the modified structure. A Patrolbot has been used in this thesis work and ultrasonic sensors are utilised for obstacle detection with a modified structure and a built-in laser scanner is studied for mapping purpose. The results of this master thesis was that the ultrasonic sensors were tested under various conditions and results were derived. To obtain the same level of results every time it is required to maintain the conditions on which the ultrasonic sensors rely.

Place, publisher, year, edition, pages
2016. , 20 p.
Keyword [en]
Obstacle detection, AGVs collision avoidance, path localisation and AGV guid-ance
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hv:diva-10020Local ID: EXD960OAI: oai:DiVA.org:hv-10020DiVA: diva2:1038887
Subject / course
Robotics
Educational program
Robotteknik
Supervisors
Examiners
Available from: 2016-10-24 Created: 2016-10-20 Last updated: 2016-10-24Bibliographically approved

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