Develop of AGV Platform to Support The Arrangement of Cargo in Storehouse

摘要

In the era of the fourth industrial revolution, instead of human, machine or robot plays an important role in working place. Especially, it is difficult to manage a large warehouse only with human. In this paper, the open platform of automated guided vehicle is introduced to meet the demands of logistics field. The design of hardware is ensured that vehicle is able to lift up and down goods without problems. There are three levels of software design such as firmware, middleware and monitoring software. In lowest level, firmware drives servo motors directly, receives signals from sensors and carried out the control command. The mission of middleware is to protect communication lacking traffic jam. In host PC, monitoring software displays internal parameters of system, provide executed status or caution. In theoretical analysis, the controller is integrated in microprocessor to track the pre-defined trajectory as well as guarantee the smooth motion. From the experimental results, the design and control method that proved in this work are feasible and capable.