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Design of an Automated Guided Vehicle


Roman Ratnaweera

Semester/Bachelor Thesis, FS 08

Automated Guided Vehicles (AGVs) are an established technology in the industry. This thesis does not assume to introduce a novelty to this line of research. Rather, this report aims to document the prototype AGV that is the main result of this project. The summary herein should introduce the reader to the scope of the problem and even the path of future generations of students working on this exciting topic. The task was straightforward: Design and build an AGV that can be used to transport a product out of a robot cell into an adjoining storage area. The main problem was the requirement to navigate freely. This has been solved by using a laser scanner that calculates its position based on the known location of reectors. An existing robot platform consisting of motors, motor control, microcontroller and a bluetooth module was extended with the new sensor. The resulting system can be controlled from a graphical user interface and linked directly to the command of an OPC. Test runs have proven that the system is capable of repeatedly performing its task. If used in an industrial environment certain applications such as collision sensors and more advanced control methods need to be implemented.

Supervisorrs Chalmers University of Technology: J. Sjöberg
Supervisors ETH: Prof. M. Morari


Type of Publication:

(13)Semester/Bachelor Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2008:IFA_3182
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