AUTOMATED GUIDED VEHICLE FOR WAREHOUS E APPLICATIONS

CHAPTER - 1
INTRODUCTION

1.1 OVERVIEW

An automated guided vehicle or automatic guided vehicle (AGV) is a mobile robot that
follows markers or wires in the floor, or uses vision or lasers. They are most often used in
industrial applications to move materials around a manufacturing facility and warehouse

Automated guided vehicles increase efficiency and reduce costs by helping to automate a
manufacturing facility or warehouse. The AGV can tow objects behind them in trailers to
which they can autonomously attach. The trailers can be used to move raw materials or
finished product. The AGV can also store objects on a bed. The objects can be placed on a
set of conveyor and then pushed off by reversing them. Some AGVs use fork lifts to lift
objects for storage. AGVs are employed in nearly every industry, including, pulp, paper,
metals, newspaper, and general manufacturing. Transporting materials such as food, linen
or medicine in hospitals is also done.

An AGV can also be called a laser guided vehicle (LGV) or self-guided vehicle (SGV).
Lower cost versions of AGVs are often called Automated Guided Carts (AGCs) and are
usually guided by magnetic tape. AGCs are available in a variety of models and can be
used to move products on an assembly line, transport goods throughout a plant or
warehouse, and deliver loads to and from stretch wrappers and roller conveyors.

AGV applications are seemingly endless as capacities can range from just a few kes to
hundreds of tons. The Aim of the project is to design and fabricate such a AGV

Fig 1.1: Automated Guided Vehicle

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1.2 WORKING PRINCIPLE

Fig 1.2: Block diagram

This is a simple Micro-controller based vehicle. The Micro-Controller is connected to

the vehicle. The Arduino is doing all this job. For receiving data wirelessly we are
using the HC-05 Bluetooth module.

At first, We have to connect/ pair the Bluetooth module with the phone (Android) you
want to control. Now, we are doing different operations such as when we press the
forward button then the Phone sends a data value to the Bluetooth module.
Next, we have to code in a way that if Arduino Gets a Certain Data (Suppose ‘F’ for
forwarding) we have to make a certain condition for running the car in a certain
direction. So, basically, there are many switch cases in the Arduino code. For a known
condition or a switch case, the car will perform the added functions in the code.
In the Same way, F, B, L, R are used for moving the car Forward, Backward, Left,
Right movements.

Fig 1.3: Working model of AGV

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1.3 ADVANTAGES AND DISADVANTAGES

1.3.1 Advantages of AGVs

 Reduced Labour Costs

 Eliminates Salary and Benefit Increases

 Eliminates Damage to Structures and Product

 Increased Workplace Safety

 Less Expensive than Fixed Automation Systems

 Reduced Utility Costs

 Increased Inventory Efficiency and Decreased Human Error.

1.3.2 Disadvantages of AGVs

 Potentially high initial investment

 Maintenance costs is high
 Not suitable for non-repetitive tasks
 Decreased flexibility of operations
 Increased Vulnerability with Virtual Connectivity

1.4 APPLICATIONS OF AGVS

AGVS have numerous applications and have already been applied by many
manufacturing plants , companies and in there warehouses.

The primary application zones are association of various work territories, request picking,
warehousing and get together. The acknowledgment of the material stream forms in the
warehousing and request picking division is portrayed by high volume of traffic from
characterized sources to characterized goals. This is a standard application region of AGVS
which as a rule requests high stacking limits. The heap units are generally institutionalized
beds, consequently the vehicles are outfitted with standard stacking gadgets. Because of
the mentioned exhibition, these frameworks regularly comprise of in excess of 100
vehicles. This requests a modern focal controlling unit and advancing methodologies for
directing and way finding.

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Fig 1.4 AGVs Working in warehouses

Fig 1.5: AGV In working site

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CHAPTER - 2

LITERATURE SURVEY AND OBJECTIVES

2.1 LITERATURE SURVEY

The first Automated Guided Vehicle was acquaint with the world in 1950s and the first
large advancement for the AGV business was the presentation of a unit load vehicle in the
mid 1970's. Suman Kumar Das, M.K. Pasan Right now kinds of aides methods for AGV's
are examined. The sorts are Guide through mobile using Bluetooth ,Wire Guided Vehicle,
Magnetic Guided Vehicle, Rail Guided Vehicle and Laser Guided Vehicle. In Wire Guided

Vehicles wires are simply utilized for the transmission of radio sign to direct the vehicle
along the way chose. A space is sliced in to the floor and a wire is put around 1 inch
underneath the surface. This space is cut along the way the AGV is to follow. This wire is
utilized to transmit a radio sign. A sensor is introduced on the base of the AGV near the
ground. The sensor distinguishes the overall situation of the radio sign being transmitted
from the wire. This data is utilized to direct the controlling circuit, causing the AGV to
follow the wire.[1]. Hee-Woon, Hwally Lee Right now recognition and situating is
proposed. AGV ought to explore the way accurately which is requested by the
administrator, and it ought to likewise maintain a strategic distance from the obstructions
coming in the middle of for example in a distribution center if a laborer goes over the way
of AGV, it ought not slam into the specialist, it is possible that it should pass by the
specialist by finding another way breaking down the encompassing or it should stop for
some time and hold up until the laborer passes. Now and again a minimal effort camera is
added to catch the ongoing pictures to figure out the encompassing to keep away from
crashes. By the blend of profundity data from the picture taken by the camera and 2D
facilitate framework would be useful to ascertain the constant separation along AGV's, gear
and articles precisely to decrease position mistake. [2]. Lothar Schulze, Sebastian Behling
and Stefan Buhrs Right now improvements and consequences of research are examined.
Segments of AGV are vehicle, stationary control framework, fringe framework parts and
on location framework segments. Vehicle is the fundamental control component of the
AGV and plays out the real transportation task which is requested. Stationary control
framework is the organization of transportation request. Enhancement of calendars and the
board of multi AGV framework is overseen by stationary control framework. Fringe
framework parts speak to the partner to different on board gear of the vehicle, for example
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battery stacking stations and burden move systems. On location framework parts are the
parts of the site's basic plan that aff ects the AGV, for example the ground, doors, lift, etc.
[3]. Himanshu Dudeja, Laxman Bagal, Nityanand Zunjur, Prof. S.S. Jagadale Right now
sensors and their working is clarified. The fundamental sensors of AGV are attractive guide
sensors, normally known as MGS1600 and Motor controller sensors known as FBL2360
and 2CHBLDC. The MGS1600 is an attractive guide sensor fit for recognizing and
revealing the situation of attractive field along its flat hub. The sensor is proposed for line
following automated applications utilizing an attractive tape to shape a track direct on the
floor. FBL2360 has various wellbeing highlights which are joined into the controller to
guarantee solid and safe activity

2.2 OBJECTIVES

 In this project we are using Bluetooth wireless technology to control our robot car
which is a very simple communication system. The remote in this project is an
android device which has Bluetooth feature built in.
 The user has to install an application on his/her mobile and turn on the Bluetooth in
the mobile phone. User can perform various actions like moving Forward,
Backward, move Left and move right using commands that are sent from the
android mobile.
 The Bluetooth is a serial communication medium through which we can connect
two devices wirelessly. Here we have used a Bluetooth module in our robot car
which gets connected to the phone's Bluetooth , that allows us to communicate and
allows to take command over it.
 The task of controlling the car is done by the Arduino UNO which houses the
microcontroller ATMEGA32. Arduino has played a major role in the robotic
section and has made it easier to convert digital and analog signal to physical
movements. The project is Bluetooth based because it gives us wider range of
control and more efficiency.
 It also gives us the advantage of changing the remote anytime, meaning that we can
use any android devices including phones, tablets, computers. Physical barriers like
walls, doors, etc. do not effect in controlling the car.

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CHAPTER -03

MATERIALS USED, CIRCUIT DIAGRAM AND PROGRAMMING

3.1 MATERIALS OR COMPONENTS USED

1 ARDUINO UNO.

2 L293D MOTOR DRIVE MODULE.

3 HC-05 BLUETOOTH MODULE.

4 PLASTIC CHASI.

5 GEAR MOTORS .

6 BATTERIES (12V).

7 JUMPER WIRES.

3.1.1 ARDUINO UNO

Fig 3.1 Arduino uno

Arduino is an open source computer hardware and software company. project, and user
community that designs and manufactures single-board microcontrollers and

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microcontroller kits for building digital devices and interactive objects that can sense and
control objects in the physical work It will be the brain of the robot, as it will be running
the software that will control all the other parts.

3.1.2 L293D MOTOR DRIVE MODULE

Fig 3.2 : L293D Motor drive module

This is a medium power motor driver perfect for driving DC Motors and Stepper Motors.

It uses the popular L293 motor driver IC. It can drive 4 DC motors on and off, or drive 2

DC motors with directional and speed control.

This motor driver is perfect for robotics and mechatronics projects for controlling motors

from microcontrollers, switches, relays, etc. Perfect for driving DC and Stepper motors for

Bluetooth controlled cars , line following robots ect..

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3.1.3 HC-05 BLUETOOTH MODULE

Fig 3.3: HC-05 Bluetooth module

HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for
transparent wireless serial connection setup. It interacts with mobile application and
micocontroler to control the direction of the vehicle

It has four pins:

 VCC (POWER 3.3-6V)

 GND
 TXD
 RXD

3.1.4 PLASTIC CHASSI

Fig 3.4: Plastic chassi

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The plastic chassis is made of acrylic it provides good mounting facility for TT gear motors
and provide good control and stability on operating

In this chassis the boards and batteries are easily mounted and it has good design

3.1.5 GEAR MOTORS

Fig 3.5: Gear motors

It is the combination of dual shafts and gears and DC Motor attached in it in this gears are
used to produce good speed control and good torque.

This gear motors are used to rotate wheels.

3.1.6 BATTERIES

Fig 3.6: Batteries

In this project two pairs of 3.7 v 18650 li-ion rechargeable batteries are used to provide
power supply to Arduino and other components to drive the 4 set of gear motors.

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3.1.7 JUMPER WIRES

Fig 3.7: Jumper wires

The copper jumper wires are used to connect the the components with each other according

to the circuit diagram.

3.2 CIRCUIT DIAGRAM

It is the schematic circuit connection diagram of Arduino based Bluetooth Vehicle

Fig 3.8: Circuit diagram

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3.3 PROGRAMMING AND UPLOADING

The code of commands are written and complied in the Arduino genuino and then uploaded
through data cable to the arduino board.

Fig 3.9: Programming and Uploading in genuine

3.3.1 CODE USED IN THIS PROJECT

/*

Code Name: Arduino Bluetooth Car with Front and Back Light Control

Description: This program is used to control a robot using an app that communicates with Arduino through
an HC-05 Bluetooth Module.

*/

#include <AFMotor.h>

//initial motors pin

AF_DCMotor motor1(1, MOTOR12_1KHZ);

AF_DCMotor motor2(2, MOTOR12_1KHZ);

AF_DCMotor motor3(3, MOTOR34_1KHZ);

AF_DCMotor motor4(4, MOTOR34_1KHZ);

int val;

int Speeed = 255;

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void setup()

Serial.begin(9600); //Set the baud rate to your Bluetooth module.

void loop(){

if(Serial.available() > 0){

val = Serial.read();

Stop(); //initialize with motors stoped

if (val == 'F'){

forward();

if (val == 'B'){

back();

if (val == 'L'){

left();

if (val == 'R'){

right();

if (val == 'I'){

topright();

if (val == 'J'){

topleft();

if (val == 'K'){

bottomright();

if (val == 'M'){

bottomleft();

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if (val == 'T'){

Stop();

void forward()

motor1.setSpeed(Speeed); //Define maximu m velocity

motor1.run(FORWARD); //rotate the motor clockwise

motor2.setSpeed(Speeed); //Define maximu m velocity

motor2.run(FORWARD); //rotate the motor clockwise

motor3.setSpeed(Speeed);//Define maximu m velocity

motor3.run(FORWARD); //rotate the motor clockwise

motor4.setSpeed(Speeed);//Define maximu m velocity

motor4.run(FORWARD); //rotate the motor clockwise

void back()

motor1.setSpeed(Speeed); //Define maximu m velocity

motor1.run(BACKWARD); //rotate the motor anti-clockwise

motor2.setSpeed(Speeed); //Define maximu m velocity

motor2.run(BACKWARD); //rotate the motor anti-clockwise

motor3.setSpeed(Speeed); //Define maximu m velocity

motor3.run(BACKWARD); //rotate the motor anti-clockwise

motor4.setSpeed(Speeed); //Define maximu m velocity

motor4.run(BACKWARD); //rotate the motor anti-clockwise

void left()

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motor1.setSpeed(Speeed); //Define maximu m velocity

motor1.run(BACKWARD); //rotate the motor anti-clockwise

motor2.setSpeed(Speeed); //Define maximu m velocity

motor2.run(BACKWARD); //rotate the motor anti-clockwise

motor3.setSpeed(Speeed); //Define maximu m velocity

motor3.run(FORWARD); //rotate the motor clockwise

motor4.setSpeed(Speeed); //Define maximu m velocity

motor4.run(FORWARD); //rotate the motor clockwise

void right()

motor1.setSpeed(Speeed); //Define maximu m velocity

motor1.run(FORWARD); //rotate the motor clockwise

motor2.setSpeed(Speeed); //Define maximu m velocity

motor2.run(FORWARD); //rotate the motor clockwise

motor3.setSpeed(Speeed); //Define maximu m velocity

motor3.run(BACKWARD); //rotate the motor anti-clockwise

motor4.setSpeed(Speeed); //Define maximu m velocity

motor4.run(BACKWARD); //rotate the motor anti-clockwise

void topleft(){

motor1.setSpeed(Speeed); //Define maximu m velocity

motor1.run(FORWARD); //rotate the motor clockwise

motor2.setSpeed(Speeed); //Define maximu m velocity

motor2.run(FORWARD); //rotate the motor clockwise

motor3.setSpeed(Speeed/3.1);//Define maximu m velocity

motor3.run(FORWARD); //rotate the motor clockwise

motor4.setSpeed(Speeed/3.1);//Define maximu m velocity

motor4.run(FORWARD); //rotate the motor clockwise

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void topright()

motor1.setSpeed(Speeed/3.1); //Define maximu m velocity

motor1.run(FORWARD); //rotate the motor clockwise

motor2.setSpeed(Speeed/3.1); //Define maximu m velocity

motor2.run(FORWARD); //rotate the motor clockwise

motor3.setSpeed(Speeed);//Define maximu m velocity

motor3.run(FORWARD); //rotate the motor clockwise

motor4.setSpeed(Speeed);//Define maximu m velocity

motor4.run(FORWARD); //rotate the motor clockwise

void bottomleft()

motor1.setSpeed(Speeed); //Define maximu m velocity

motor1.run(BACKWARD); //rotate the motor anti-clockwise

motor2.setSpeed(Speeed); //Define maximu m velocity

motor2.run(BACKWARD); //rotate the motor anti-clockwise

motor3.setSpeed(Speeed/3.1); //Define maximu m velocity

motor3.run(BACKWARD); //rotate the motor anti-clockwise

motor4.setSpeed(Speeed/3.1); //Define maximu m velocity

motor4.run(BACKWARD); //rotate the motor anti-clockwise

void bottomright()

motor1.setSpeed(Speeed/3.1); //Define maximu m velocity

motor1.run(BACKWARD); //rotate the motor anti-clockwise

motor2.setSpeed(Speeed/3.1); //Define maximu m velocity

motor2.run(BACKWARD); //rotate the motor anti-clockwise

motor3.setSpeed(Speeed); //Define maximu m velocity

motor3.run(BACKWARD); //rotate the motor anti-clockwise

motor4.setSpeed(Speeed); //Define maximu m velocity

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motor4.run(BACKWARD); //rotate the motor anti-clockwise

void Stop()

motor1.setSpeed(0); //Define minimum velocity

motor1.run(RELEASE); //stop the motor when release the button

motor2.setSpeed(0); //Define minimum velocity

motor2.run(RELEASE); //rotate the motor clockwise

motor3.setSpeed(0); //Define minimum velocity

motor3.run(RELEASE); //stop the motor when release the button

motor4.setSpeed(0); //Define minimum velocity

motor4.run(RELEASE); //stop the motor when release the button

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CHAPTER -04
RESULTS AND DISCUSSION
4.1 RESULTS AND DISCUSSION
The AGV is an efficiency expanding highlight in a plant. During planning this AGV we
have given the essential capacities like line follows and impact keeping away from. Also,
the primary capacity, transportation of merchandise from station to station. The followings
are the principle highlights of the model which we have planned.

1 Speed of conveyance.

2 Modification of vehicle speed.

3 Adaptability of way.

4 Versatile to changes in industrial facility formats.

5 Maintain a strategic distance from crash with different items.

6 Decrease in labor cost..

7 Decrease in running expense contrasted with transport frameworks.

8 Capacity to add sensors to identify the payload conditions.

9 Proceeds with pattern of working.

10 Conditions for line following can be changed without any problem

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CHAPTER 5

CONCLUSSION

5.1 CONCLUSION

Mechanized guided vehicles assume a significant job in adaptable assembling frameworks.

The task primarily manages working of an AGV and controlling it with PC. The
disentangled plant format is considered in the work and the vehicle is effectively controlled
from one machine unit to the next with machine number as the main info.

There are a few potential headings for additional examination. We can improved the guided
tape type AGV using better route strategy. It tends to be embraced any condition and
modest among self-sufficient robot. There is critical measure of contrast among
hypothetical and down to earth work cycle estimation of time which can be advanced by
embracing diverse strategy.

Furthermore, one could think about an unwinding of the token holding prerequisite in the
rush hour gridlock control plot with the goal that numerous vehicles can leave distinc tive
at-intersection zones all the while, and henceforth the presentation of the AGV framework
can be improved. After the model usage, it meets the utilization of AGVs in mechanica l
fields, stockrooms, clinical fields and in risky working territories where people can't go.

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REFERENCE

1. Make Diy youtube channel and there website circuitbest

2. Research gate website
3. Suman Kumar Das, M.K. Pasan et al., Design and Methodology of Automated
Guided Vehicle ,2016, PP 235 -247.
4. Hee-Woon, Hwally Lee et al., Concept design of AGV based on image detection
and positioning , 2018, PP 104-107.
5. Lothar Schulze, Sebastian Behling, And Stefan Buhrs et al., Automated Guided
Vehicle System ,2008, PP 164 -176.
6. HIMANSHU DUDEJA, LAXMAN BAGAL, NITYANAND ZUNJUR, Prof. S.S.
Jagadale et al., Mechanical Design of Automated Guided Vehicle , ,2015 PP 32-40.
7. ELECTRONICS HUB WEBSITE

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