MEMBERS

1.Nguyễn Ngọc Nguyên:

 Write part 5 of the report.
 Combine article sections into a complete report and edit.
 Edit canvas.
2.Nguyễn Hồng Minh:
 Write part 1 and 2 of the report.
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3.Cao Thái Sơn:
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 Write part 3 and 4 of the report.

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 CONTENTS
Page

I.INTRODUCTION……………………………………………………… 3

II.OPERATING PRINCIPLE OF AGV…………………………………. 4

1. Navigation methods…………………………………………………. 4

2. Working principle…………………………………………………… 4

III.TECHNICAL PARAMETERS / REQUIREMENTS OF AGV 06

1. Technical parameters of AGV………………………………………. 6

2. Requirement of AGV………………………………………………... 7

IV. TECHNICAL PARAMETERS / REQUIREMENTS OF UNIT

LOAD AGV……………………………………………………………… 9

1. Technical parameters of AGV………………………………………. 9

2. Requirement of AGV………………………………………………... 11

V. BASIC COMPONENTS OF THE AGV SYSTEM…………………... 13

1.Sensor………………………………………………………………… 13

2.Control Devices………………………………………………………. 20

3.Actuators……………………………………………………………... 21

4.Mechanical Systems…………………………………………………. 22

5.Software……………………………………………………………… 28

I. INTRODUCTION:
- The AGV, called a laser guided vehicle (LGV). In Germany the technology is
also called Fahrerloses Transportsystem (FTS) and in Sweden förarlösa trucker,
T r a n g 2 | 33
can have two objects behind them in trailers to which they can autonomously
attach. The trailers can be used to move raw materials or finished products. The
AGV can also store objects on a bed. The objects can be placed on a set of
motorized rollers (conveyor) and then pushed off by reversing them. AGVs are
employed in nearly every industry, including pulp, paper, metals, newspaper, and
general manufacturing. AGVs are available in a variety of models move products
on an assembly line, transport goods throughout a plant or warehouse, and deliver
loads…

Source: Wikipedia

- An automated guided vehicle (AGV), different from an autonomous mobile

robot (AMR), is a portable robot that follows along marked long lines or wires on
the floor, or uses radio waves, vision cameras, magnets, or lasers for navigation.
They are most often used in industrial applications to transport heavy materials
around a large industrial building, such as a factory or warehouse. Application of
the automatic guided vehicle broadened during the late 20th century.
- The first AGV was brought to market in the 1950s, by Barrett Electronics of
Northbrook, Illinois, and at the time it was simply a tow truck that followed a
wire in the floor instead of a rail. Out of this technology came a new type of
AGV, which follows invisible UV markers on the floor instead of being towed by
a chain. The first such system was deployed at the Willis Tower (formerly Sears
Tower) in Chicago, Illinois to deliver mail throughout its offices.

II. OPERATING PRINCIPLE OF AGV:

(The difference of AGV from other electric vehicles is that its operation requires
no human input, as it is controlled by a preset program and safety systems and,
T r a n g 3 | 33
besides, the vehicle is equipped with additional mechanisms for
loading/unloading without human assistance.)

1. Navigation methods:
- We will talk to laser navigation and magnetic tape navigation. The advantages
of laser navigation are no installation, high accuracy, high positioning, error is
only between positive and negative 1 mm, no other positioning facilities are
needed. But the disadvantage is that the cost of them is very expensive and;
besides, they are easy to be effected by surrounding light intensity.

Source: google

2. Working principle:

Documentation: google
- The working sequence of AGV trolley is as follows: after receiving the cargo
handling instructions, according to the pre-drawn operation map, the current
coordinates and the forward direction of AGV, the central controller carries out
T r a n g 4 | 33
vector calculation and route analysis, chooses the best driving route,
automatically intelligently controls the AGV trolley's driving, turning and
steering on the road, arrives at the accurate parking position of loading cargo, and
loads the cargo. Then AGV starts to "run" to the target unloading point, stops
after arriving at the exact location and completes the unloading, and reports its
position and status to the control computer. Then AGV starts to run to the
standby area until it receives new instructions and then does the next task .
III. TECHNICAL PARAMETERS / REQUIREMENTS OF AGV:
1. Technical parameters of AGV:
- The technical parameters of AGV are very various, depending on the model,
manufactures, and application. The information below is common technical
parameters that is typically associated with AGVs:
 Load Capacity:
+ The maximum weight that the AGV can carry, including the payload and
any additional equipment.
 Speed:
+ The maximum travel speed of the AGV. Speed can vary based on the
application and safety requirements.
 Dimensions:
+ Length, width, and height of the AGV. These dimensions are crucial for
navigating through facilities and ensuring compatibility with the
environment.
 Battery Capacity:
+ The capacity of the onboard battery, typically measured in ampere-hours
(Ah) or kilowatt-hours (kWh). This parameter influences the AGV's
operating time between battery recharges.
 Operating Time:
+ The duration the AGV can operate on a single battery charge. This
depends on factors such as load, speed, and the efficiency of the energy
management system.

T r a n g 5 | 33
  Charging System:
+ The type of charging system used, whether it's automatic charging at
designated stations or manual charging.
 Navigation System:
+ The type of navigation technology employed, such as laser guidance,
magnetic tape guidance, vision-based systems, or a combination of these.
 Safety Features:
+ AGVs are equipped with safety features such as sensors, emergency stop
buttons, and collision avoidance systems to ensure safe operation in
dynamic environments.
 Communication System:
+ The communication protocols and systems used for interaction between
AGVs and other elements of the automated system, such as a central
control system.
 Payload Handling:
+ Specifications related to the type of payload the AGV is designed to
handle, whether it's pallets, bins, or other materials.
 Operating Environment:
+ The range of operating temperatures, humidity levels, and other
environmental conditions under which the AGV is designed to operate.
 Control System:
+ Information about the AGV's control system, including the processing
power, onboard computing capabilities, and software features for
navigation and task execution.
 Maintenance Requirements:
+ Information about routine maintenance tasks, service intervals, and any
specific maintenance needs.
 It's important to note that these parameters can vary, and manufacturers often
provide detailed specifications for each model of AGV they produce. When

T r a n g 6 | 33
selecting an AGV for a specific application, it's essential to consider these
technical parameters in relation to the requirements of the intended use.
2. Requirement of AGV:
- The requirements for an Automated Guided Vehicle (AGV) system depend on
the specific application and operational needs of the facility. Here are some
general requirements and considerations when implementing AGVs:

 Application Analysis:

+ Conduct a thorough analysis of the material handling and logistics

processes within the facility to identify areas where AGVs can improve
efficiency.

 Payload and Load Types:

+ Define the types of materials or products the AGV will be handling,

along with their weights and dimensions. This information is crucial for
determining the load capacity and design specifications of the AGV.

 Pathways and Navigation:

+ Determine the pathways or routes the AGV will follow. This could
involve magnetic tape, laser guidance, vision systems, or a combination of
these navigation technologies.

 Integration with Existing Systems:

+ Assess the compatibility of the AGV system with existing automation

and control systems within the facility. Integration with Warehouse
Management Systems (WMS) or Manufacturing Execution Systems (MES)
may be necessary.

 Safety Requirements:

+ Identify safety considerations and requirements. AGVs should be

equipped with safety features such as sensors, emergency stop buttons, and
collision avoidance systems to ensure a safe working environment.

 Operating Environment:
T r a n g 7 | 33
 + Consider the environmental conditions where AGVs will operate,
including temperature ranges, humidity levels, and any specific challenges
posed by the facility layout.

 Communication Systems:

+ Determine the communication protocols that will be used for

coordination between AGVs, other machinery, and the central control
system.

 Battery and Charging Infrastructure:

+ Specify the type of battery technology and charging infrastructure

required. Consider the expected operating time between charges and the
placement of charging stations.

 Flexibility and Scalability:

+ Assess the flexibility of the AGV system to adapt to changes in

production processes or facility layout. Ensure that the system is scalable
to accommodate future expansion.

 Maintenance and Serviceability:

+ Consider the maintenance requirements of the AGVs. Ensure that

maintenance tasks are straightforward, and the necessary spare parts are
readily available.

 Training and Operator Interface:

+ Develop training programs for operators and maintenance personnel.

Design an intuitive user interface for operators to interact with the AGV
system.

 Regulatory Compliance:

+ Ensure that the AGV system complies with local regulations and safety
standards. This may include safety certifications and adherence to industry-
specific guidelines.

 Return on Investment (ROI) Analysis:

T r a n g 8 | 33
 + Conduct a comprehensive analysis to evaluate the return on investment,
considering factors such as labor cost savings, increased efficiency, and
reduced errors.

 By carefully addressing these requirements, businesses can implement AGV

systems that seamlessly integrate into their operations, enhancing efficiency,
safety, and overall productivity.

IV. TECHNICAL PARAMETERS / REQUIREMENTS OF UNIT

LOAD AGV:
1. Technical parameters of AGV:

- When discussing the technique parameters of a Unit Load Automatic Guided

Vehicle (AGV), we're generally referring to the specifications and settings that
define its operational characteristics. Here are some key technique parameters for
Unit Load AGVs:

 Load Capacity:

+ The maximum weight that the AGV can carry. This parameter is crucial
for determining the AGV's suitability for specific tasks.

 Speed and Acceleration:

+ Parameters related to the AGV's speed and acceleration. This includes

maximum speed, acceleration rate, and deceleration rate. These parameters
need to be optimized for efficient material handling while ensuring safety.

 Navigation System:

+ The type of navigation system used by the AGV, such as laser guidance,
magnetic tape, vision systems, or a combination of these. The accuracy and
reliability of the navigation system are critical.

 Path Planning:

T r a n g 9 | 33
 + Techniques used for determining the most efficient route for the AGV to
reach its destination. This may involve algorithms that consider factors like
distance, obstacles, and traffic.

 Obstacle Detection and Avoidance:

+ Parameters related to the AGV's ability to detect obstacles in its path and
take appropriate actions to avoid collisions. This could involve sensors,
cameras, or other technologies.

 Battery Management:

+ Parameters related to the AGV's power source, including battery

capacity, charging time, and energy consumption. Efficient battery
management is essential for continuous operation.

 Load Handling Mechanism:

+ If the AGV is equipped with a mechanism for picking up or depositing

loads, parameters related to this mechanism, such as lifting capacity,
accuracy, and stability.

 Communication System:

+ The communication protocols and methods used for interaction with the
central control system, other AGVs, and peripheral equipment. This is
important for coordination in a multi-AGV environment.

 Safety Features:

+ Parameters related to safety systems, such as emergency stop

mechanisms, collision avoidance, and fail-safe protocols to ensure the
safety of both the AGV and its surroundings.

 Maintenance and Diagnostics:

T r a n g 10 | 33
 + Parameters related to the AGV's self-diagnostic capabilities, maintenance
requirements, and predictive maintenance features to minimize downtime.

These parameters collectively define the capabilities and performance of a

Unit Load AGV, and they can be adjusted or optimized based on the specific
requirements of the application and the operational environment.

2. Requirement of AGV:

 Load Characteristics:

+ Define the types of loads the AGVs will handle. Specify the weight,
dimensions, and any special characteristics of the unit loads.

 Throughput and Workload:

+ Determine the required throughput, which is the number of unit loads the
AGVs should handle within a specific time frame. Assess the workload
patterns, such as peak times and average demand.

 Facility Layout and Infrastructure:

+ Understand the layout of the facility where AGVs will operate. Consider
the need for infrastructure modifications, such as installing charging
stations, creating AGV lanes, and integrating with existing conveyor
systems.

 Navigation Requirements:

+ Identify the preferred navigation method based on the facility layout and
requirements. Common navigation methods include laser guidance,
magnetic tape, vision systems, or a combination of these.

 Integration with Existing Systems:

+ Assess the compatibility of AGVs with other automation systems,

warehouse management systems (WMS), and enterprise resource planning
(ERP) systems. Ensure seamless communication and data exchange.

 Safety Regulations and Standards:

T r a n g 11 | 33
 + Adhere to safety regulations and standards for AGV operation.
Implement safety features such as obstacle detection, emergency stop
mechanisms, and collision avoidance systems.

 Scalability:

+ Consider future scalability requirements. Determine whether the AGV

system can be easily expanded to accommodate changes in production
volume or shifts in operational needs.

 Battery and Power Management:

+ Define the power requirements and battery management strategy. Assess

the need for rapid charging stations, battery swap systems, or other
charging solutions to ensure continuous operation.

 Operational Environment:

+ Consider the environmental conditions in which the AGVs will operate,

including temperature, humidity, and any specific challenges such as
cleanroom requirements or hazardous material handling.

 Training and Maintenance:

+ Develop training programs for operators and maintenance personnel.

Ensure that the AGVs are easy to maintain and establish a preventive
maintenance schedule to minimize downtime.

 Cost Considerations:

+ Evaluate the overall cost of implementing AGVs, including initial

investment, operating costs, and potential return on investment (ROI).
Consider both short-term and long-term financial implications.

 Performance Metrics:

+ Define key performance indicators (KPIs) to measure the effectiveness

of the AGV system, such as throughput, cycle time, and error rates.

V. BASIC COMPONENTS OF THE AGV SYSTEM:

T r a n g 12 | 33
1. Sensors:

a. What are sensors used in AGV autonomous vehicles ?

 Automatically calculate and maintain speed in safe areas.

 Automatic emergency braking when detecting an obstacle

that is too close.

 Alerts when the sensor detects an obstacle or someone in the

area.

b. Radar Sensor:

 Definition: Radar sensor is a microwave sensor, operating

based on the “doppler effect”, frequency 5.8 Ghz under 10m.
All types of Radar work by emitting waves and then
receiving reflected signals. Then convert that signal into
information for input to the central processor.

 Operating principle: Using sound waves to measure

distance.

 Application:

o Radar sensors used for autonomous vehicles or cars

usually operate at frequencies of 24 GHz or 77-81 GHz.
Use to measure distance and speed and monitor data
along the way at different locations.

o Radar sensors on self-propelled vehicles use short-

range radar. It can replace ultrasonic sensors, warn of
obstacles, and assist in stopping the vehicle when
obstacles are too close.

 Advantages:

o Wide sensing area (best within a radius of 6-8m).

o Wide scanning angle.

T r a n g 13 | 33
 o Suitable for self-propelled vehicles with relative speeds.

o Data processing is moderate.

 Disadvantages:

o Narrow viewing angle cannot be used for 360-degree

viewing angles.

o Unable to recognize optical characters: color, contrast.

o The price is quite high compared to ultrasonic sensors.

c. Ultrasonic sensors:

 Definition: Ultrasound is a sensor that uses signals higher

than the range that humans can hear. Usually around 40 -70
kHz. The way this sensor processes information is similar to
a Radar sensor. The signal is radiated to the target and
reflected to the source.

Image: Ultrasonic Sensor(Cảm biến siêu âm)

Source: vcc-tradind.vn

T r a n g 14 | 33
  Operating principle: Using high frequency sound waves to
measure distance.

 Application:

o Sensors used in AGV self-propelled vehicles aim to

avoid collisions between AGVs or between AGVs and
humans.

 Advantages:

o Fast response time, good accuracy in short range, error

about 0.15% (2m).

o Low cost.

o Usually installed in the blind spot of the vehicle.

 Disadvantages:

o Short operating distance.

o No optical character recognition.

o Ultrasonic sensors used for autonomous vehicles are

greatly affected by temperature and pressure. Therefore,
AGVs are only suitable for operating in environments
where the temperature is less than 60 degrees Celsius
and the pressure is less than 1 bar.

o In addition, it is also susceptible to signal interference

when installed, so attention should be paid to correct
installation instructions.

d. LiDAR Sensor:

T r a n g 15 | 33
 Definition: LiDAR works by emitting a laser beam and then
measuring the reflected signal back with very high accuracy.
LIDAR is often applied to scan terrain into 3D maps.

Image: LiDAR Sensor

Source: tinhte.vn

 Operating principle: Use laser to measure the distance of

obstacles, then take appropriate action. For example, with
obstacles on the way, the AGV will pause when the distance
is too close.

 Application:

o Navigation and obstacle avoidance: LiDAR provides

3D maps, enabling AGVs to navigate and avoid
obstacles in real-time. Unlike cameras, LiDAR works
well in low light and complex environments.

o SLAM: Advanced LiDAR builds maps while tracking

the AGV's position, ideal for dynamic environments
where layouts change frequently.

o Precise docking and positioning: High-resolution depth

data from LiDAR allows AGVs to dock precisely with
stations and interact with equipment accurately.
T r a n g 16 | 33
 o Enhanced safety and collision prevention: LiDAR
detects stationary and moving obstacles even at blind
corners, preventing collisions and increasing safety.

 Advantages:

o Measure distance with high accuracy, quite wide

measuring range (up to 200m).

o High-resolution images, capable of 3D scanning at a

time scale, providing accurate analysis of the
surrounding environment.

o Works well even in low light conditions.

 Disadvantages:

o Does not work as effectively as Radar.

o No optical character recognition.

o Large data processing.

e. Vision Camera – Optic Sensor:

 Definition: AGV self-propelled vehicles need to integrate

Vison cameras to guide the AGV's movement. It is often
combined with LiDAR to provide navigation capabilities for
AGV robots.

T r a n g 17 | 33
 Image: Vision Camera – Optic Sensor

Source: vcc-trading.vn

 Operating principle: Using computer vision camera to

identify and measure objects.

 Application:

o The AGV is equipped with a camera to detect tracks

that have been posted on the floor. At the same time, it
calculates the deviation from the guide tape. The AGV
controller will receive information transmitted from
machine vision in the form of voltage or on a digital
interface. With the optical line sensor, the AGV can
detect ordinary luminescent tape even if it is dirty or
blurred.

 Advantages:

o The sensor is sensitive and returns highly accurate

results.

o The cost is very reasonable.

 Disadvantages:

o Limited FOV, narrow scanning angle, cannot scan 360

degrees.

o Does not work well in low light or varying lighting

conditions.

T r a n g 18 | 33
 o Consumes a lot of processing power because it needs to
process large amounts of data.

g. Inertial Measuring Unit (IMU):

 Definition:

o IMUs are the most reliable sensors because they cannot

be disturbed or tampered with and are not affected by
weather and other environmental conditions.

o An Inertial Measurement Unit (IMU) is a device that

typically includes a gyroscope to measure and report
angular speed and an accelerometer to measure and
report specific forces.

 Gyroscope: provides a measure of angular rate.

 Accelerometer: provides a specific

force/acceleration measurement.

 Magnetometer (optional): measures the magnetic

field around the system.

T r a n g 19 | 33
 Image: IMU Sensor

Source: processonline.com.au

 Operating principle: Using accelerometer and gyroscope

data to calculate the vehicle's direction and keep the AGV
balanced.

 Application:

o In AGV autonomous vehicles or any robot system, IMU

data combined with GNSS, ultrasonic sensors, lasers,
vision cameras and other sensor systems help AGV
Robots make decisions more accurate.

T r a n g 20 | 33
 o The IMU navigates safely in a short time when a
problem with GNSS or other sensors is detected.

o IMU data is always available and is an integral part of

any autonomous vehicle system and is relied upon to
maintain safe vehicle operations.

 Advantages:

o Reasonable cost, high accuracy sensor when combined

with other types of sensors.

o Operates accurately in all environmental conditions.

 Disadvantages:

o Speed and position calculations are not accurate enough

due to signal drift in mathematical integration.

h. GNSS:

 Definition: Global Navigation Satellite System (GNSS) is

the common name for global positioning systems that use
satellites such as GPS. GNSS transmits and transmits data
accurately and readily with high reliability.

 Operating principle: Using satellites to provide geospatial

positioning.

 Advantages:

o Locate the exact location of the autonomous vehicle

with satellite data.

o Operates in all environmental conditions.

o Provides positioning between vehicles that cannot see

each other and when there are no lane markings or
signals.

T r a n g 21 | 33
  Disadvantages:

o Accuracy depends on FOV.

o Accuracy is not too high.

2. Control Devices:

a. Definition:

 Control devices are responsible for processing sensor data,

implementing control algorithms, and ensuring the AGV
operates within predetermined parameters. This section
explores the role of programmable logic controllers (PLCs)
and other control devices in coordinating AGV movements
and actions.

b. Some devices:

 Wireless communication: makes it easy to communicate

with warehouse management systems, resource management
systems, and production inspection systems.

 User Interface: The user interface performs tasks such as:

managing vehicle alarms and communications, managing
reports to analyze and improve overall operations.

 PLC central controller: PLC stands for Programmable Logic

Controller. This is a programmable control device that
allows users to flexibly implement logic control algorithms
through a programming language.

3. Actuators:

a. Definition: The actuator converts the control signal into

physical movement. In an AGV system, the actuator is

T r a n g 22 | 33
 responsible for controlling the wheels, lifting mechanism, and
other moving parts. This subsection reviews the types of
actuators used in AGVs and their specific applications in
different situations.

b. Some motion systems:

 Engine: Is the main component that creates traction, helping

the vehicle move. The motor on AGV vehicles is usually a
DC electric motor or stepper motor.

Image: Engine

Source: vcc-trading.vn

 Wheels: Are the components in contact with the road

surface, helping the vehicle move. The wheels on AGVs are
usually rubber wheels or steel wheels.

 Transmission system: Is the system that transmits power

from the engine to the wheels, helping the vehicle move.
The transmission system on AGV vehicles is usually a gear
transmission system or chain transmission system.

T r a n g 23 | 33
 Image: Transmission system

Source: tci.vn

 Cargo lifting part: Is the part that helps the vehicle lift and
lower goods. The part that lifts and lowers goods on an AGV
is usually a mechanical arm or a crane.

T r a n g 24 | 33
 Image: Cargo lifting part

Source: ssi-schaefer.com

 In addition, the actuator on an AGV vehicle can also include

other components such as:

o Traction control system: Helps adjust engine traction,

helping the vehicle move stably and safely.

o Brake system: Helps the vehicle stop when necessary.

o Suspension system: Helps the vehicle move smoothly

and minimize vibration

4. Mechanical Systems:

a. Definition: The mechanical design of an AGV is important for

stability, load capacity and maneuverability. This section of the
report discusses the mechanical components of the AGV,
including the chassis design, wheel configuration, and suspension
system.

b. Some mechanical structures:

T r a n g 25 | 33
 Chassis: The chassis is an important part of the AGV vehicle,
responsible for the vehicle's stability, movement and cargo
transportation. AGV chassis are usually made of steel or
aluminum materials, have a sturdy structure, and can withstand
large loads..

o Main components of the chassis:

 Chassis: Is the main frame of

the vehicle, including
bearing bars, support frames
and other connecting
components.

Source: vi.made-in-china.com

 Wheel:
Is the part that helps the car
move, usually made of
rubber or plastic.

Source: fasolutions.vn

 Suspension system: Is the part that transmits power

from the engine to the wheels, helping the vehicle
move.

 Transmission system: Is the part

that helps absorb shock, helping
the vehicle move more
smoothly.

T r a n g 26 | 33
 Source: autodetailing.vn

o Common types of AGV chassis:

 4-wheel chassis: This is the most common type of

chassis, with 4 wheels, 2 driving wheels and 2 non-
driving wheels.

 6-wheel chassis: This type of chassis has 6 wheels, 4

driving wheels and 2 non-driving wheels. A 6-wheel
chassis has a greater load capacity and is more stable
than a 4-wheel chassis.

 Mecanum chassis: This type of chassis has 4 wheels,

each wheel can move independently in 4 directions,
helping the vehicle move more flexibly.

o Uses of AGV chassis:

 Responsible for the stability, movement and cargo

transportation of the AGV vehicle.

 Helps the vehicle move smoothly, reducing vibration.

 Helps the vehicle withstand large loads.

 Increase vehicle flexibility.

 Wheel configuration:

o Ingredients:

 Wheel cover: Is the outer

protective component of the

T r a n g 27 | 33
 wheel, helping to protect the internal components
from damage. Wheel covers are usually made of hard,
durable materials such as ABS plastic, steel, or
aluminum.

 Tire: Is the component in contact

with the road surface, helping the
AGV move. AGV tires are usually
made of rubber or polyurethane,
have good traction and high
strength.

Source: fastech.vn

 Wheel axle: Is the component

connecting the wheel cover and the
engine, helping to transmit power
from the engine to the wheel. Wheel
axles are usually made of steel or
aluminum alloy.

Source: thietbiagv.com

 Wheel motor: Is the component that

provides traction for the wheels,

T r a n g 28 | 33
 helping the AGV move. AGV wheel motors are
usually DC electric motors or AC motors.

 Ball bearing: Is the component that

helps the wheel rotate smoothly.
AGV bearings are usually ball
bearings or roller bearings.

Source: saoviet-ltd.com

 Suspension system:

o Ingredients:

 Elastic element: This is the main load-bearing

component of the suspension system, helping to
absorb vibrations from the road surface. Elastomeric
elements are usually made of rubber, metal or plastic.

T r a n g 29 | 33
 Source: news.oto-hui.com

 Shock absorber element: This is a component that

helps minimize vehicle vibration when traveling on
rough roads. Damping elements are usually made of
oil or compressed air.

 Wheels: This is the part in contact with the road

surface, helping the vehicle move.

o 2 common types of suspension systems:

 Independent suspension system:

Each wheel on the vehicle is
suspended independently of each
other, helping the vehicle operate
more smoothly on rough roads..

Source: oto.saodo.edu.vn

 Dependent suspension system:

The wheels on the car are linked

T r a n g 30 | 33
 together, helping the car to be more stable when
moving in a straight line.

Source: hondaotomydinh.vn

5. Software:

a. Definition: Software forms the intelligence behind AGV operations.

This section explores the software aspects of AGV systems, including
navigation algorithms, path planning, and integration with enterprise-
class control systems.

b. Some algorithms used in AGV vehicles:

 Navigation algorithm is an algorithm that helps AGVs locate

their position in space and find their way from point A to
point B. Popular navigation algorithms for AGVs include:

o Magnetic tape navigation: This is the simplest and most

cost-effective navigation method. This method uses
magnetic tapes posted on the garage floor so that the
AGV can determine its location.

o Navigation using optical sensors: This method uses

optical sensors to track signs or special objects in the
environment so that the AGV can determine its
position.

o LiDAR navigation: This method uses a lidar scanner to

scan the surrounding environment and create a three-
dimensional map. This map is then used so the AGV
can locate its location and find its way.

o SLAM navigation: This method combines both lidar

navigation and camera navigation. This method allows
AGVs to automatically build a map of the surrounding
T r a n g 31 | 33
 environment and find their way in a changing
environment.

 Control algorithm is an algorithm that helps AGV vehicles

control speed, direction of movement and other operations.
Popular control algorithms for AGV vehicles include:

o Linear control: This method uses linear equations to

calculate the speed and direction of movement of the
AGV.

o Closed-loop control: This method uses sensors to

measure the position and speed of the AGV. Then, this
information is used to adjust the speed and direction of
the AGV vehicle to ensure the AGV vehicle moves
accurately along the intended path.

o Nonlinear control: This method uses nonlinear

equations to calculate the speed and direction of
movement of the AGV. This method is often used in
applications that require high precision, such as
transporting high-value goods.

 In addition, modern AGVs also use other algorithms such as:

o Collision avoidance algorithm: This algorithm helps the

AGV avoid collisions with obstacles in the
environment.

o Object tracking algorithm: This algorithm helps the

AGV track other objects in the environment, such as
people or forklifts.

o Communication algorithm: This algorithm helps AGVs

communicate with each other and with other systems in
the factory or warehouse.

c. Dependent factors in algorithm selection:

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 Operating environment: If the operating environment is
complex and changes frequently, it is necessary to use more
advanced navigation and control algorithms.

 Accuracy requirements: If high accuracy is required, it is

necessary to use nonlinear navigation and control
algorithms.

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