Small Radius Steering Control for Automatic Guided Vehicles Manouver Efficiency using Double Ackerman Inverted method (2WD-4WS-1A) Arif Mafatia Karim, S.Pd.,Gr. , Dr. Budhy Setiawan, B.SEET., MT , Indrazno Siradjuddin, ST., MT., PhD
State Polytechnic of Malang
Abstract
This paper introduces a robot vehicle designed for the same forward or reverse maneuver specifications with small turning radius. The vehicle has two-wheel drive with a Double Inverted Ackermann steering method (2WD-4WS-1A) for an Automatic Guide Vehicle (AGV). In batch processing systems for industrial, AGV is used for transportation in the component warehouse area. In the steering system, Ackermann mechanics are described as optimizing the AGV maximum radius maneuver capability, based on the turning center point. The AGV drive is designed with four-wheel steering mechanics, two wheel drives, and one steering actuator. The vehicles mechanical steering system is designed with a geometry analysis system to control the turning radius of the vehicle. The Ackermann AGV steering method that has been implemented will be tested for maneuvering results. The research results are measured empirically to determine the efficiency and optimization of the system in the AGV design. Numerical simulations and prototype experiments show that AGV scanning moves along straight and curved guide lines with high accuracy. The efficiency of the steering control and small optimal radius will increase maneuverability of the surge motion with a specified vehicle payload capacity.
