Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle

This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeL...

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Main Authors:	Norsharimie, Adam, Mohd, Aiman, Wan Mohd, Nafis, Irawan, Addie, Mohamad, Muaz, Mohamad, Hafiz, A. R., Razali, Sheikh Norhasmadi, Sheikh Ali
Format:	Conference or Workshop Item
Language:	English
Published:	EDP Sciences 2016
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/14366/ http://umpir.ump.edu.my/id/eprint/14366/ http://umpir.ump.edu.my/id/eprint/14366/1/Omnidirectional%20Configuration%20and%20Control%20Approach%20on%20Mini%20Heavy%20Loaded%20Forklift%20Autonomous%20Guided%20Vehicle.pdf

id	ump-14366
recordtype	eprints
spelling	ump-143662018-02-12T00:54:32Z http://umpir.ump.edu.my/id/eprint/14366/ Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle Norsharimie, Adam Mohd, Aiman Wan Mohd, Nafis Irawan, Addie Mohamad, Muaz Mohamad, Hafiz A. R., Razali Sheikh Norhasmadi, Sheikh Ali TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M) Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm x 270cm square) with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system’s control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS) as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse. EDP Sciences 2016-12 Conference or Workshop Item PeerReviewed application/pdf en cc_by http://umpir.ump.edu.my/id/eprint/14366/1/Omnidirectional%20Configuration%20and%20Control%20Approach%20on%20Mini%20Heavy%20Loaded%20Forklift%20Autonomous%20Guided%20Vehicle.pdf Norsharimie, Adam and Mohd, Aiman and Wan Mohd, Nafis and Irawan, Addie and Mohamad, Muaz and Mohamad, Hafiz and A. R., Razali and Sheikh Norhasmadi, Sheikh Ali (2016) Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle. In: MATEC Web of Conferences: 2nd International Conference on Automotive Innovation and Green Energy Vehicle (AIGEV 2016), 2-3 August 2016 , Malaysia Automotive Institute, Cyberjaya, Selangor. pp. 1-11., 90 (01077). ISSN 2261-236X http://dx.doi.org/10.1051/matecconf/20179001077
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Norsharimie, Adam Mohd, Aiman Wan Mohd, Nafis Irawan, Addie Mohamad, Muaz Mohamad, Hafiz A. R., Razali Sheikh Norhasmadi, Sheikh Ali Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle
description	This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV) for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M) Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm x 270cm square) with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system’s control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS) as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.
format	Conference or Workshop Item
author	Norsharimie, Adam Mohd, Aiman Wan Mohd, Nafis Irawan, Addie Mohamad, Muaz Mohamad, Hafiz A. R., Razali Sheikh Norhasmadi, Sheikh Ali
author_facet	Norsharimie, Adam Mohd, Aiman Wan Mohd, Nafis Irawan, Addie Mohamad, Muaz Mohamad, Hafiz A. R., Razali Sheikh Norhasmadi, Sheikh Ali
author_sort	Norsharimie, Adam
title	Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle
title_short	Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle
title_full	Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle
title_fullStr	Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle
title_full_unstemmed	Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle
title_sort	omnidirectional configuration and control approach on mini heavy loaded forklift autonomous guided vehicle
publisher	EDP Sciences
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/14366/ http://umpir.ump.edu.my/id/eprint/14366/ http://umpir.ump.edu.my/id/eprint/14366/1/Omnidirectional%20Configuration%20and%20Control%20Approach%20on%20Mini%20Heavy%20Loaded%20Forklift%20Autonomous%20Guided%20Vehicle.pdf
first_indexed	2023-09-18T22:18:02Z
last_indexed	2023-09-18T22:18:02Z
_version_	1777415469364412416

Omnidirectional Configuration and Control Approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle

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