Research and design of an autonomous and collaborative guided vehicle prototype, to be applied in indoor and outdoor environments and different types of floor

Abstract

This thesis is an initial attempt to investigate and design a prototype of an Autonomous Guided Vehicle (AGV) which could operate in indoor and outdoor applications. Currently, an AGV is designed to work in applications where the driving surface is clean, flat, and solid. This takes some planning and timing before implementation. Therefore a suitable solution needs to be found which will make the vehicle usable in multiple environments without the need for clean surfaces. Firstly information is gathered about industrial AGV’s to know what an AGV is made of and what are the strengths or flaws of the current ones. After that several concepts are proposed for designing problems like wheel geometry, backlash while steering, which kind of suspension, etc. The main problem is solved by adding a suspension, which contains a shock absorber and coil spring, to the vehicle. This will make the wheels keep in contact with the surface, even when it is loose and/or uneven like sand. To be able to maneuver in all directions, there is opted for a four-wheel drive and steering solution. A dynamic model of the vehicle is made to see how the suspension and the chassis of the vehicle will react to a different load and a step in the road. Technical drawings, motor and suspension calculations, electrical structure, risk analysis, and cost estimation are also included in this study.

Keywords: AGV. Suspension. Outdoor. Prototype.