An Introduction to Automated

Guided Vehicles

1
 Contents
• Introduction
• Types of AGVs
• Navigation System
• Traffic Management
• Pros and Cons
• Conclusion
• References

2
Introduction

3
 What is an AGV?
• AGV is a Computer-Controlled, Non-manned, Electric
Powered vehicle capable of handling material.
• Highly flexible, intelligent and versatile material handling
system.

4
 History of AGVs
• First type of AGV
was introduced
around 1954 in
America.
• It was used as a
tractor to pull five
trailers and follow an
overhead wire in a
grocery warehouse.
Source Barrett Cravens/Savant Automation 1958
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Types of AGVs
Driverless Trains
Pallet Trucks
Unit Load Carriers

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 Driverless Trains
• It consists of a towing vehicle that pulls one or more
trailers to form a train.
• It is applicable in moving
heavy loads over large
distance in warehouses or
factories.
• It consists of 5-10 trailers
and is an efficient transport
system.
• The towing capacity is up
to 27 tonnes.
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Driverless Trains Examples

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 Pallet Trucks
• It is used to move palletized
loads along pre-determined
routes.
• Vehicle is backed into
loaded pallet automatically
or by a worker; pallet is then
elevated from floor.
• The towing capacity is up to
one tonne.

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 Pallet Trucks Examples

Pallet Fork Lift

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 Unit Load Carriers
• Used to move unit loads from station to station.
• To handle light and small
loads and parts over
moderate distances.
• It is also used for
automatic loading and
unloading of pallets by
means of rollers.
• The capacity ranges up
to 250 kg or less.
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Unit Load Carriers Examples

12
Navigation System

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 How do AGVs know where to go?
• Navigation System
• Wired Navigation
• Guide Tape Navigation
• Laser Target Navigation

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 Wired Navigation
• The wired sensor is placed on bottom of the AGV facing the
ground.
• A slot is cut in the ground and a wire is placed approximately 1
inch below the ground.
• The sensors detect the radio frequency being transmitted from
the wire and follows it.

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 Guide Tape Navigation
• The magnetic tape is used for the guide path.
• AGVs are fitted with the appropriate guide sensors to follow the
path of the tape.
• It is considered a “passive” system since it does not require the
guide medium to be energized as wire does.

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 Laser Navigation
• Laser is sent off then received again and the angle and distances
are automatically calculated and stored into AGV’s memory.
• AGV can correct its position
based on errors between the
expected and received
measurements.
• It can then navigate to a
destination target using the
constantly updating position.

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Traffic Management

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 Will AGVs operate Safely?
• Zone Control

• Zone control to implement blocking system.

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 Forward Sensing Control
• Laser Obstacle Detection
• Mechanical Bumpers

Obstacle AGV Obstacle AGV

Bumper

Laser Based Mechanical Bumpers

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 Why consider AGVs?
• Intelligent.
• Increased safety.
• Just in time deliveries.
• Reduced labour and operational costs.
• Reduced product damage.
• Higher operational efficiency and reliability.
• Flexibility towards future modifications.
• Versatility of applications and vehicle models.
• Transforming the materials handling industry.
 What are the drawbacks?
• High capital investment.
• Complicated system.
• High maintenance costs.
• Slower speeds.
 What is a good use for AGVs?
• Repetitive movement of materials.
• Distances over 150 feet.
• Multi-shift operation.
• Medium throughput/volume.
• When on-time delivery is critical and late
deliveries are causing inefficiency.
• Processes where tracking the material is
important.
Conclusion

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 Conclusion

Load Capacity

Space Costs
Operating hours

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 References
• Gunter Ullrich, 2015. Automated Guided Vehicle Systems: A Primer with Practical
Applications. Springer-Verlag Berlin Heidelberg, Edition 1,
• Müller, T., 1993. Automated Guided Vehicles. IFS Publications Ltd./Springer-Verlag,
UK/Berlin.
• Maxwell, W.L. and Muckstadt, J.A., 1982. Design of automated guided vehicle
systems, IIE Transactions 14 (2), 114-124.
• Götting, H.H., 2000. Automation and Steering of Vehicles in ports. Port Technology
International 10, 101-111.
• Van der Heijden, M.C., Van Harten, A., Ebben, M.J.R., Saanen, Y.A., Valentin, E.C.,
Verbraeck, A., 2002a. Using simulation to design an automated underground
system for transporting freight around Schiphol airport. Interfaces 32 (4), 1-19.
• Gündüz Ulusoy, Svrikaya-Serifoğlus, F., Bilge U., 1997. A genetic algorithm approach
to the simultaneous scheduling of machines and automated guided vehicles.
Computers Operation Research. 24 (4), 335-351.
• Corréa, A.I., Langevin A., Rousseau L.M., 2007. Scheduling and routing of
automated guided vehicles: A hybrid approach. Computers and Operation
Research. 34, 1688-1707.
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 References Contd…
• Wang H.F., and Chang C.M., 2015. Facility layout for an automated guided vehicle
system. Procedia Computer Science. 55, 52-61.
• Ghasemzadeh H., Behrangi E., Azgomi M.A., 2009. Conflict-free scheduling and
routing of automated guided vehicles in mesh topologies. 57, 738-748.
• Lee S.Y., and Yang H.W., 2012. Navigation of automated guided vehicles using
magnet spot guidance method. Robotics and Computer-Integrated Manufacturing,
28, 425-436.
• Nanua Singh, 1995 Systems Approach to Computer-Integrated Design and
Manufacturing, Wiley Publications,, ISBN-13:978-0471585176
• Iris F.A. vis, 2006. Survey of research in the design and control of automated
guided vehicle systems. European Journal of Operational Research, 170 (3), 677-
709.
• Le-Anh, T., and De Koster M.B.M., 2004. A Review of design and control of
automated guided vehicle systems. ERIM Report Series Research in Management.

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