An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles

The automated guided vehicle (AGV) is a key component for the successful implementation of flexible manufacturing systems (FMS). AGVs are wheeled mobile robots (WMR) employed for material handling in the constantly evolving layouts of these modern factory shop floors. As such their ability to naviga...

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Main Authors:	Murelitharan, Muniandy, Kanesan , Muthusamy
Format:	Article
Published:	Trans Tech 2012
Subjects:	TS Manufactures
Online Access:	http://library.oum.edu.my/repository/610/

id	oai:eprints.oum.edu.my:610
recordtype	eprints
spelling	oai:eprints.oum.edu.my:6102011-10-14T06:12:21Z An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles Murelitharan, Muniandy Kanesan , Muthusamy TS Manufactures The automated guided vehicle (AGV) is a key component for the successful implementation of flexible manufacturing systems (FMS). AGVs are wheeled mobile robots (WMR) employed for material handling in the constantly evolving layouts of these modern factory shop floors. As such their ability to navigate autonomously is an equally important aspect to sustain an efficient manufacturing process. However, their mobility efficiency is inherently affected by the unproductive systematic and non-systematic odometry errors. Odometry errors mainly occur due to the mobility configuration of the AGV drive train and the surface characteristics the robot is interacting with. Odometry error accumulates over the distance traveled and leads to severe dead reckoning inaccuracy if the robot’s feedback control mechanism is unable to correct the error fast. This paper proposes an innovative drive train mechanism called dual planetary drive (DPD) that will minimize odometry errors without the need for complex electronic feedback control systems. (Abstract by authors) Trans Tech 2012 Article PeerReviewed Murelitharan, Muniandy and Kanesan , Muthusamy (2012) An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles. Advanced Materials Research (AMR), 383-390. ISSN 1022-6680 http://library.oum.edu.my/repository/610/
repository_type	Digital Repository
institution_category	Local University
institution	Open University Malaysia
building	OUM Institutional Repository
collection	Online Access
topic	TS Manufactures
spellingShingle	TS Manufactures Murelitharan, Muniandy Kanesan , Muthusamy An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles
description	The automated guided vehicle (AGV) is a key component for the successful implementation of flexible manufacturing systems (FMS). AGVs are wheeled mobile robots (WMR) employed for material handling in the constantly evolving layouts of these modern factory shop floors. As such their ability to navigate autonomously is an equally important aspect to sustain an efficient manufacturing process. However, their mobility efficiency is inherently affected by the unproductive systematic and non-systematic odometry errors. Odometry errors mainly occur due to the mobility configuration of the AGV drive train and the surface characteristics the robot is interacting with. Odometry error accumulates over the distance traveled and leads to severe dead reckoning inaccuracy if the robot’s feedback control mechanism is unable to correct the error fast. This paper proposes an innovative drive train mechanism called dual planetary drive (DPD) that will minimize odometry errors without the need for complex electronic feedback control systems. (Abstract by authors)
format	Article
author	Murelitharan, Muniandy Kanesan , Muthusamy
author_facet	Murelitharan, Muniandy Kanesan , Muthusamy
author_sort	Murelitharan, Muniandy
title	An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles
title_short	An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles
title_full	An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles
title_fullStr	An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles
title_full_unstemmed	An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles
title_sort	innovative drive train design for improved dead reckoning accuracy in automated guided vehicles
publisher	Trans Tech
publishDate	2012
url	http://library.oum.edu.my/repository/610/
first_indexed	2018-09-06T17:08:30Z
last_indexed	2018-09-06T17:08:30Z
_version_	1610878770651070464

An Innovative Drive Train Design for Improved Dead Reckoning Accuracy in Automated Guided Vehicles

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