for the past few months me and some of my friends have been workling on a large scale automated guided vehicle project. The plan was to build an autonomous robot, large scale model of a forklift sideloader. It was ment to be more an educational machine not a practical one, so it wasn't designet to move any heavy loads, just symbolic pacgages made of wood. For navigation system i've chosen line following, because it's cheapest.
After few hundred hours spent welding and programming that's what happened
- length: 140 cm
- width: 90 cm
- weight: 105 kg
- power suppy: 70Ah / 12V car battery
- maximum fork height: 100 cm
- max speed: turtle alike
- Toshiba laptom running MATLAB
- Arduino UNO
- Micro maestro servo controller
- web camera as a line following sensor
- 2 x Graupner Speed profi 900bb Torque
- 2 x 1 : 240 worm reductor
- 2 x battery screwriver motor for fork system
Program flowchart is in attachment of thist post. Currently most of the line following is done in MATLAB, all the fork system is controlled via Arduino. More detailed description about authors and current state is in video description.
As mentioned before i've shosen line following navigation because it's the cheapest. Web camera as a sensor was free. Now i realize i''ve made a mistake. The image processing can be slow, and using a PC instead of a controller is necesary and risky.
That 's why i'm planning to purchase a magnetic tape sensor and use a few arduinos instead of laptop for control purposes. The sketching work has allready begun and i hope that, in a few months time, i'll be presenting you a new video, with just Arduino controlled AGV.
Ps: if you have any questions, do not hasitate to ask