Development of Navigation Control Algorithm for AGV Using D* search Algorithm

Jeong, Geun Kim and Dae, Hwan Kim and Sang, Kwun Jeong and Hak, Kyeong Kim and Sang, Bong Kim (2013) Development of Navigation Control Algorithm for AGV Using D* search Algorithm. International Journal of Science and Engineering, 4 (2). pp. 34-38. ISSN 20865023

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In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. By using the laser scanner LMS-151 and laser navigation sensor NAV-200, the grid map is updated according to the changing of environment and obstacles. When the AGV finds some new map information such as new unknown obstacles, it adds the information to its map and re-plans a new shortest path from its current coordinates to the given goal coordinates. It repeats the process until it reaches the goal coordinates. This algorithm is verified through simulation and experiment. The simulation and experimental results show that the algorithm can be used to move the AGV successfully to reach the goal position while it avoids unknown moving and static obstacles.

Item Type:Article
Uncontrolled Keywords:navigation control algorithm; Automatic Guided Vehicles (AGV); D* search algorithm
Subjects:T Technology > TP Chemical technology
Divisions:Faculty of Engineering > Department of Chemical Engineering
Faculty of Engineering > Department of Chemical Engineering
ID Code:38945
Deposited On:11 Apr 2013 10:34
Last Modified:18 Apr 2013 12:00

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