IDEAS home Printed from https://ideas.repec.org/a/hin/complx/6687816.html
   My bibliography  Save this article

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Author

Listed:
  • J. Enrique Sierra-García
  • Matilde Santos

Abstract

Automatic guided vehicles (AGVs) are unmanned transport vehicles widely used in the industry to substitute manned industrial trucks and conveyors. They are now considered to play a key role in the development of the Industry 4.0 due to their temporal and spatial flexibility. However, in order to deal with the AGV as a potential mobile robot with high capacities and certain level of intelligence, it is necessary to develop control-oriented models of these complex and nonlinear systems. In this paper, the modelling of this vehicle as a whole is addressed. It can be considered composed of several interrelated subsystems: control, safety, driving, guiding and localization, power storage, and charging systems. The kinematics equations of a tricycle vehicle are obtained, and a controller is proposed. An extended hybrid automata formalism is used to define the behaviour of the safety and the control systems, as well as their interaction. In addition, the electrical equivalent circuit of the batteries, charger, and the motors is studied. The architecture of the holistic model is presented. Simulation results of the AGV in a workspace scenario validate the model and prove the efficiency of this approach.

Suggested Citation

  • J. Enrique Sierra-García & Matilde Santos, 2020. "Mechatronic Modelling of Industrial AGVs: A Complex System Architecture," Complexity, Hindawi, vol. 2020, pages 1-21, December.
    • Handle: RePEc:hin:complx:6687816
    DOI: 10.1155/2020/6687816
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/8503/2020/6687816.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/8503/2020/6687816.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2020/6687816?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Wai Peng Wong & Muhammad Fahad Anwar & Keng Lin Soh, 2024. "Transportation 4.0 in supply chain management: State-of-the-art and future directions towards 5.0 in the transportation sector," Operations Management Research, Springer, vol. 17(2), pages 683-710, June.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:6687816. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.