Simulation study and PID Tune of Automated Guided Vehicles (AGV)

Abstract

Automated Guided Vehicles (AGV) is a famous robot group which is used in various applications with different shapes. These robot applications start with industries carrying and end with a hospital helping the elderly or carrying medicines. Even recently, AGV usage in libraries has been reported. AGVs mainly consist of fixed terms, and in different applications, they used some addon designed to increase the robot's ability. One of the main research contents of AGV is the control part of the system. Also, the strategies and methods among scholars are different. Some simulation work about AGV control and design has been reported, but most of them missed the complete simulation concept, making the work replication hard. This paper, after a detailed description of AGV SIMULATION description, the PID Tune process with the help of Ziegler Nichols and the empirical method described. Then the Simulation experiments are carried out on Four different paths of the circle, eclipse, spiral, and 8-shape to observe and test the Tuned PID parameters. Finally, after success tracking, the value of the PID controller shows the least and maximum of the following error signal of each applied path belongs to the Circle path and the Spiral path.