7.

DESIGN AND DEVELOPMENT OF A PROTOTYPE OF

AUTOMATED GUIDED VEHICLE (AGV) FOR MATERIAL
HANDLING
ABSTRACT:
In today’s world Robotics is a fast-growing field. It reduces human efforts and can perform
various tasks in uncertain/certain environment without human guidance which has many
advantages in human life. The Automated Guided Vehicle (AGV) is a mobile robot used in
industrial applications to move the materials around the manufacturing area or a warehouse.
AGVs should be well developed to optimize its benefits to our own living. The aim of this
project is to design and prototype of an AGVs model with two driving wheels and two free
wheels, infrared sensors, microcontroller, etc that has the ability to follow line on the floor
with the help of microcontroller for material handling. To follow the line, the microcontroller
is attached to infrared sensors that continuously reflect to the surface condition to avoid
obstacles in the path and then the microcontroller gives the commands to the gear motor so
that the vehicle can move accordingly. The minimum number of gear motor allows the AGV to
minimize the power. Therefore, AGV is the future of material handling in the industry.
Keywords: Robotics, AGV, Material Handling, Microcontrollers, Sensors
METHODOLOGY:

Problem
Statement

Design of Determination
Chassis of Workspace

Selection and
interfacing of
Control System

Validation of
Working of Manufacturing
AGV of AGV
 AGV uses line path system based on path which is programmed. It considers the
measurement inputs from sensors and compares them to given value by programmer. The
line follower AGV is self- operating robots that detects and follow a line drawn on the work
floor. To trace the line on the floor a sensor is used which sends the signal to control system
of the robot. As a feedback mechanism is used it creates a simple and effective loop system.
Different algorithms and refinement techniques were studied. A Algorithm was developed for path
detection and obstacle detection. Algorithm flowchart was prepared and important program loops
were generated. C++ language will be used. The algorithm will be imported in the Arduino using
the Arduino IDE software. The function of ultrasonic sensors is to detect the obstacles in the path.
The working space for them is 10-30cm. If an obstacle is detected then the sensor sends the signal
to the Arduino. Then Arduino sends the signal to the DC motors which are connected through the
motor driver board which reduces the speed of the motors and brings the vehicle to stop. Prototype
model of the AGV can be applied in the industry was proposed. Hardware and machinery have been
recommended as per different applications.
Layout and schematic sketch have been devising for the proposed prototype Various hardware
component used:
 Ultrasonic Sensors
 IR Sensors
 L293D motor driver shield
Arduino:
 DC geared motors
 Li-ion battery
 Chassis
 Wheels 90mm diameter
MODELING AND ANALYSIS:

Figure 1: proposed method

Figure 2: Stress Analysis Figure 3: Deformation Analysis

 Figure 5: Front View of the
AGV

Figure 4: Actual method

CONCLUSION:
Manual material handling is a difficult and time-consuming task in almost every industry. Hence, it is
concluded that in a mass production factory with large areas or shop floors an AGV can play crucial role
in increasing productivity. Use of an AGV helps us to reduce transportation time and expenditure. The
AGV that are currently in use have a huge scope in development of Integrated IOT based systems.
Here we propose a cost-effective way of developing an AGV through Sheetmetal. So, we designed and
developed an AGV based on line pattern recognition which can also sense any obstacle in the pathway. The
microcontroller used in our AGV is Arduino UNO and the motor driver shield we have selected is L292D.
The reason behind selecting such motor driver shield, as our AGV runs on 4 motor and L293D(without
shield) can control 2 motors at a time. The line pattern are recognized by 2 IR sensors used mounted on
the front side of AGV and the obstacle can be detected using ultrasonic sensors. According to our
calculations includes rolling resistance, grade resistance, and accelerative force helped us in finding the
required motor torque as well as rpm value of motor, eventually helped us selecting motor.
By combining the hardware and the software which is the code we have developed, our AGV follows the
black path pattern and also detects the objects with a height above 2 cm. The AGV will stop moving when
the distance between AGV and objects is less than or equal to 10cm. The object can be sensed even if it
is not completely on the path. Hence the AGV we have developed strictly follows line pattern and the
problem of manual material handling can be resolved.