Development of an automated guided vehicle controller using a model-based systems engineering approach



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South African Journal of Industrial Engineering August 2016 Vol 27(2), pp 206-217
206
DEVELOPMENT OF AN AUTOMATED GUIDED VEHICLE CONTROLLER USING A MODEL-BASED
SYSTEMS ENGINEERING APPROACH
T. Ferreira
1
& IA. Gorlach
1
*
ARTICLE INFO
Article details
Submitted by authors
13 Aug 2015 Accepted for publication 13 Jun 2016 Available online
12 Aug 2016
Contact details
* Corresponding author
Igor.Gorlach@nmmu.ac.za
Author affiliations
1 Department of Mechatronics Nelson Mandela Metropolitan University, South Africa
DOI
http://dx.doi.org/10.7166/27-2-1327
ABSTRACT
Automated guided vehicles (AGVs) are widely used for transporting materials in industry and commerce. In this research, an intelligent
AGV-based material-handling system was developed using a model- based systems engineering (MBSE) approach. The core of the AGV, the controller, was designed in the system modelling language environment using Visual Paradigm software, and then implemented in the hardware. As the result, the AGV’s complex tasks of material handling, navigation, and communication were successfully accomplished and tested in the real industrial environment. The developed AGV is capable of towing trolleys with a weight of up to kg at walking speed. The AGV can be incorporated into an intelligent material-handling system with multiple autonomous vehicles and workstations, thus providing flexibility and reconfigurability for the whole manufacturing system. Ergonomic and safety aspects were also considered in the design of the AGV. A comprehensive safety system that is compliant with industrial standards was implemented.
OPSOMMING
Die nywerheid- en handelsbedryf gebruik dikwels outomatiese begeleide voertuie. n Outomatiese begeleide voertuig gebaseerde materiaalhanteringsisteem is ontwikkel deur ʼn modelgebaseerde benadering. Die voertuig se beheerder is ontwikkel deur gebruik te maak van Visual Paradigm sagteware en is op die hardeware geïmplementeer. Die ingewikkelde materiaalhanteringstake wat na die voertuig gestuur is, wat onder meer die hantering, navigasie en kommunikasie insluit, is suksesvol uitgevoer en getoets inn werklike nywerheidsomgewing. Die onwikkelde outomatiese begeleide voertuig kan waentjies met ʼn massa van kg teen stapspoed sleep. Die outomatiesbegeleide voertuig kan by ʼn intelligente materiaalhanteringsisteem, wat uit verskeie outonome voertuie en werkstasies bestaan, geïntegreer word. Dit bied dus die vermoë om die hele vervaardigingstelsel te herkonfigureer of maklik aan te pas.
Ergonomiese en veiligheidsaspekte is ook oorweeg vir die ontwerp van die voertuig. ʼn Omvattende veiligheidstelsel wat aan die toepaslike industriestandaarde voldoen is geïmplementeer.


Introduction
Description of the system model
Figure 2: requirements diagram of agv in sysml
Centralised control system:
Figure 6: block diagram of intelligent controller in sysml
Figure 7: intelligent controller use case diagram in sysml
Figure 9: use case diagram for job request in sysml
Figure 10: block diagram of guide-path design and components in sysml
Figure 12: agv controller
Node/branch selection:
Figure 13: photograph of the agv towing the material handling trolley
References [1] trebilcock, b



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