Spin-type forward motion mode based on double steering wheel parking AGV
ISSN: 0143-991x
Article publication date: 9 July 2020
Issue publication date: 18 August 2020
Abstract
Purpose
The purpose of this paper is to propose the situation that the existing parking automated guided vehicle (AGV) has a single walking mode, a spin forward motion mode based on a dual steering wheel driven parking AGV. In this way, the AGV can complete the 180° spin of the AGV in the process of straight forward.
Design/methodology/approach
A spin forward kinematics model of the dual steering wheel AGV is established, and a motion controller of the dual steering wheel AGV is designed based on the principle of model predictive control to complete the path following the spin forward motion mode.
Findings
Computer simulations and laboratory tests were performed on this movement mode, which showed that the operation mode was feasible. It also verified that the mode can improve the handling efficiency, and also solved the problem that the parking space beside the wall could not be set and the site utilization was improved.
Research limitations/implications
The controller should be further improved to make the operation smoother and more accurate.
Practical implications
This mode has the applicability to the indoor logistics AGVs. In addition, it can improve the handling efficiency and also solved the problem that the storage space for goods beside the wall could not be set and the site utilization was improved.
Social implications
This method can solve the problem due to the increasing number of private cars and parking spaces are hard to find. It increases the number of parking spaces and improves the utilization rate of the site. In addition, it also saves people the time to find a parking space and reduces car exhaust emissions in the process. It follows the requirements of sustainable development.
Originality/value
The studies in this paper provide AGV with more ideas on the issue of improving handling efficiency and site utilization and also solves the problem of being unable to set parking spaces when parking against the wall. In addition, this model has applicability to indoor logistics AGV and plays the same role.
Keywords
Acknowledgements
Funding: This work was supported by the National Natural Science Foundation of China under grant [number No. 51775510]
Citation
Pan, T., Yan, J., Zhou, S., Cai, Y. and Lu, C. (2020), "Spin-type forward motion mode based on double steering wheel parking AGV", Industrial Robot, Vol. 47 No. 5, pp. 777-787. https://doi.org/10.1108/IR-02-2020-0043
Publisher
:Emerald Publishing Limited
Copyright © 2020, Emerald Publishing Limited