Design and construction of driving wheel control system of a symmetrical four wheels automatic guided vehicle

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Design and construction of driving wheel control system of a symmetrical four wheels automatic guided vehicle

Widi, Mogi Arum Kurnia - Personal Name; Prajogo, Tutuko - Personal Name;

The main objective of this thesis is to design and construct the Automatic Guided Vehicle (AGV) using four wheels which are two wheels as the steering wheel and two wheels as the driving wheel with the suspension system that can be controlled wirelessly. The symmetrical structure is designed. H-bridge circuit is used as the controller of motor and encoder is the feedback of the motor. Master slave control strategy is used by using motherboard as the master and microcontroller as the slave. PID control is used as the rotation speed control in driving wheel. The result of this thesis is that the AGV is able to do basic maneuver such as forward, backward, and pivot. Hence it shows that the steering wheel and the driving wheel can work together. There are some recommendations such as the wheel assembly and suspension system modification, better tuning PID, and the trajectory control improvement.

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Series Title: -
Call Number: 1136
Publisher: : Swiss German University., 2012
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
Content Type: -
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Edition: -
Subject(s): MT
Specific Detail Info: -
Statement of Responsibility: -

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