Manufacturing Technology 2021, 21(2):164-183 | DOI: 10.21062/mft.2021.027

Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply

Ákos Cservenák
Faculty of Mechanical Engineering and Informatics, University of Miskolc in 3515 Miskolc-Egyetemváros, Hungary

The AGVs or mobile robots are well used in today’s manufacturing supply technologies and also can be used in engineering’s education. The motion controlling and simulation of such vehicles are a cru-cial question. This paper introduces the steps of motion planning for a driverless carrier vehicle from the positions initially available to the speed of the wheels. The vehicle is located in the High-Tech Logistics Systems Laboratory of the Logistics Institute of the University of Miskolc. For motion con-trolling and simulation between two points the further modules are necessary: 1. path planner, 2. tra-jectory planner, 3. velocity-voltage converter using velocities gained from trajectory planner, 4. mo-tion controlling and simulation of a motor dynamical model using voltages from the converter, 5. simulation of the path and 6. data processing. In this paper the first two modules are detailed, i.e. the path planning and then the trajectory planning. Path planning is based on a new approach, using Bezier-curves and Hermite curves. The trajectory planning tends to the mininum energy, which can be carried out by the examining the current consumption created in the other modules. The smaller consumption originated from the two curves determines the final path and trajectory.

Keywords: AGV, Manufacturing supply, Path planning, Trajectory planning, Mechatronics
Grants and funding:

Support by the EFOP-3.6.1-16-2016-00011 “Younger and Renewing University – Innovative Knowledge City – institutional development of the University of Miskolc aiming at intelligent specialisation” project implemented in the framework of the Szechenyi 2020 program.
The realization of this project is supported by the European Union, co-financed by the European Social Fund.”

Received: December 2, 2020; Revised: December 2, 2020; Accepted: February 16, 2021; Prepublished online: March 22, 2021; Published: April 6, 2021  Show citation

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Cservenák Á. Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply. Manufacturing Technology. 2021;21(2):164-183. doi: 10.21062/mft.2021.027.
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