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The focus of this research is on how to detect the position of the AGV’s own coordinate direction during the material handling operation, and then move forward from the known coordinate point and direction to the target coordinate direction. Since the target direction is obvious, the movement speed can be adjusted in advance makes the movement more efficient. The AGV detects obstacles by the obstacle detector and completely avoids the risk of the collision to ensure the safe delivery of goods to the destination. Whatever it is the placement rack, AGV body equipment, and personal safety, it can also be protected in place. However, how to reduce the AGV collision and prolong its service life requires the establishment of a safety system in the process of unmanned driving. Collision avoidance depends on the sensitive control of detection equipment, control programs, motors and drivers, and the rapid response of the controller. In addition, the AGV moving operations on the correct route, recognizing obstacles, and avoiding obstacles also require the fast computing capability of an industrial computer. Therefore, this design uses an industrial computer to effectively detect the position of the AGV's own coordinate direction through the LiDAR. The AGV can stop safely when encountering obstacles whether there are obstacles on the route. Furthermore, the AGV can continue to the destination when the obstacles are removed. The AGV control system in this study is easy to operate, easy to maintain, trouble-free, high safety, and has the advantages of navigation, obstacle avoidance, real-time sensing, etc. The future research direction is to expand the functions with automatic charging, durability, energy saving, obstacle detour, optimization route, high-precision positioning with image correction, and image obstacle avoidance combined with robotic arms.
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