Path Planning Automated Guided Robot | Mechanical Project

Abstract—

This project concerns the design and fabrication of the Automated Guided Robot (AGR) prototype, utilizing genetic algorithm (GA) as a mainframe in helping the robot to generate a self-understanding of the area of work and mobilization to a destination desired by the user. The main
objective of this project is to create and develop a Path Planning Mobile Robot able to avoid obstacles in its path and reach a target designated position from its starting point utilizing 4 wheel-based rover body, sensors, linear motors and microcontrollers. The paper describes the design process of the AGR development, from the initiation of idea to development of algorithms, to virtual prototype development of AGR mechanisms and controller board, to fabrication, to mobility, obstacle avoidance and path planning test. Two methods of path planning are presented, using compass bearing in undetermined space and predetermined path. Obstacle avoidance and path planning algorithms has been tested using the completed design of AGR body.

INTRODUCTION
Robotics is known as a new revolution to the entity of beings that varies according to its uses. In modern day environments, robotics and automation are involved in almost every industrial activity and conveniently improve
the efficiency, productivity and reliability of a system.
Robotics is also implemented in medical practice, construction, outer-space exploration, household assistance, mobile transportation and quite recently, underwater exploration.

METHODS OF DETECTION AND SENSOR SYSTEMS AS FEEDBACK ANALYSIS
With sensors, robots are said to be able to obtain vision, sense of touch, balance, and even hearing. According to their tasks and application, robots are given the appropriate sensors that function as the feedback systems in a controller.
Autonomous Guided Robot (AGR) systems are classified as rover based robotics that require vision-type and touch sensors. The AGR should be able to maneuver and counteract with the environment using sensors to detect the obstacles around, remember its current position and calculate a new path to take. The sensors identified for the construction of the AGR in this project are ultrasonic proximity detectors, and electronic magnetic compass. The function of the proximity detectors is to detect any objects surrounding the robot within a range specified. The proximity detectors are placed on the front, left and right face of the robot to ensure wider sonar-like detection. An electronic magnetic compass detects the strongest magnetic flux generation and generates that as the North Pole. Using this compass, the AGR can generate sense of direction and will not lose its path once avoiding an
obstacle. 3 ultrasonic sensors have been installed for obstacle detecting and 1 magnetic compass for bearing change detection.

fabrication of agr
fabrication of agr

CIRCUIT CONSTRUCTION

The circuitry is designed and fabricated through a few phases which are:

A. Circuit design and simulation in PSPICE-AD
B. Acquiring components and wires from EE store
C. Circuit testing and troubleshooting on breadboard
D. Veroboard finalized working circuit design.

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Path Planning Automated Guided Robot | Mechanical Project

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