Controlling of a mobile robot's motion

Abstract

Nowadays, following Industry 4.0 the driverless vehicles have appeared in the industry, such as the carriers. Automating these vehicles is a difficult task also nowadays. The purpose of this article is to plan the motion of such a vehicle. A driverless carrier or AGV can be found in the High-Tech Laboratory of the Institute of Logistics at the University of Miskolc. The vehicle is part of a material handling system. The vehicle's position is detected by a LIDAR sensor. The article describes a series of measured positions in various situations, furthermore details a motion planning option.