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DESIGN AND IMPLEMENTATION OF AUTOMATIC GUIDED VEHICLE (AGV) SYSTEM USING DIJKSTRA ALGORITHM

FOR POSITION INFORMATION AND NAVIGATION

Samuel Febrikab Dwiprasetiabudhi

1105100007

1ST ADVISOR

ANGGA RUSDINAR, S.T., M.T., PhD.

NIP : 07740390-1

2ND ADVISOR

RAMDHAN NUGRAHA, M.T.

NIP : 14861327-1

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Content

• Introduction• System Design• Result Analysis• Conclusion

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Background

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Goals

• Line Following for navigation• Use RFID as Position Information• Dijkstra Algorithm to find The Shortest Path

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Scope of Problem

• Map already stored into the system• Use ATMega2560(Master) and ATMega328

(Slave) as Microcontrollers• 48mm track width• 1st terminal as starting position• Robot weigh approximately 20 kg

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System Design

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System’s Mechanic Design

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Master Flowchart

START

Initialization

Bluetooth Input Data

Correct Data?

Dijkstra Algorithm

Photodiode Sensor Input

Fuzzy Logic

Actuator Active

RFID Input Data

There is RFID data?

AGV Moving According The Program

Target was fullfilled?

FINISH

AGV Parked

2

2

3

2

1

3

1

Yes

No

Yes

Yes

No

No

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Slave Flowchart

Start

Initialization

RFID Reader Data Input

Output data transfer to master

End

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Line Sensor and RFID Module

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Line Sensor’s Schematic

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RFID Module Schematic

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Fuzzy Logic Flowchart

Start

Initialization

Photodiode Sensor Input

Fuzzyfication

End

Rule Inference

Defuzzyfication

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Fuzzy Logic

Front Sensor

Back Sensor

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Fuzzy Logic

Depan

Belakang LEBIH KIRI KIRI TENGAH KANANLEBIH

KANAN

KIRI LC C P SP SPS

TENGAH SC LC N LP SP

KANAN SCS SC C P LP

DepanBelakang LEBIH KIRI KIRI TENGAH KANAN

LEBIH KANAN

KIRI LP P C SC SCS

TENGAH SP LP N LC SC

KANAN SPS SP P C LC

Left Motor Rule Inference

Right Motor Rule Inference

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Fuzzy Logic

Right Motor Output

Left Motor Output

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RFID Flowchart

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RFID Placement

248.2 cm

186.4 cm

41.5 cm

438.7 cm

226.3 cm

1

2

3

4

0

5

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Djikstra Algorithm

248.2 cm

186.4 cm

41.5 cm

438.7 cm

226.3 cm

1

2

3

4

0

5Starting position on first terminal,End on fourth terminal

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248.2 cm

186.4 cm

41.5 cm

438.7 cm

226.3 cm

1

2

3

4

0

5

1 →2 = 248.2 cm1 →3 = 186.4 cmThen 1 →3 was chosen

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248.2 cm

186.4 cm

41.5 cm

438.7 cm

226.3 cm

1

2

3

4

0

5

1 → 3 → 4 = 625.1 cm1 → 3 → 2 = 227.9 cm1 → 2 =248.2 cmThen 1 → 3 → 2 was chosen

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248.2 cm

186.4 cm

41.5 cm

438.7 cm

226.3 cm

1

2

3

4

0

5

1 → 3 → 4 = 625.1 cm1 → 3 → 2 → 4 = 454.2 cmThen 1 → 3 → 2 → 4 was chosen

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Result Analysis

SensorNilai Pembacaan Sensor

Hitam Putih

1 714 192

2 580 193

3 643 197

4 705 198

5 650 200

6 612 194

7 614 198

8 764 198

SensorNilai Pembacaan Sensor

Hitam Putih

9 688 199

10 545 194

11 754 194

12 586 194

13 678 199

14 793 195

15 609 197

16 830 196

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No

TIME COST PER DESTINATION (SECOND) / TAG

STATUS TIME (SECOND)

1 - 3 3 - 2 2 - 4

1 12.73 (OK) 4.85 (OK) 17.44 (OK) BERHASIL 35.02

2 13.09 (OK) 3.74 (OK) 18.72 (OK) BERHASIL 35.55

3 12.73 (OK) 5.36 (OK) 17.10 (OK) BERHASIL 35.19

4 12.42 (OK) 6.84 (OK) 15.57 (OK) BERHASIL 34.83

5 13.36 (OK) 5.63 (OK) 15.84 (OK) BERHASIL 34.83

6 13.00 (OK) 3.83 (OK) 18.00 (OK) BERHASIL 34.83

7 12.91 (OK) 3.87 (OK) 17.78 (OK) BERHASIL 34.56

8 12.66 (OK) 4.10 (OK) 18.12 (OK) BERHASIL 34.88

9 12.87 (OK) 4.82 (OK) 18.04 (OK) BERHASIL 35.73

10 12.06 (OK) 4.14 (OK) 17.23 (OK) BERHASIL 33.43

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NOTIME COST PER DESTINATION (SECOND) /

TAG STATUS TIME (SECOND)4 - 2 2 – 3 3 - 1

1 16.29 (OK) 19.75 (OK) 36.49 (OK) BERHASIL 36.49

2 19.26 (OK) 23.26 (OK) 38.29 (OK) BERHASIL 38.29

3 15.78 (OK) GAGAL GAGAL GAGAL GAGAL4 GAGAL GAGAL GAGAL GAGAL GAGAL5 19.08 (OK) GAGAL GAGAL GAGAL GAGAL6 19.89 (OK) 23.89 (OK) 39.87 (OK) BERHASIL 39.87

7 20.20 (OK) GAGAL (OK) GAGAL GAGAL GAGAL8 18.67 (OK) 22.68 (OK) 38.56 (OK) BERHASIL 38.56

9 18.54 (OK) 22.36 (OK) 37.80 (OK) BERHASIL 37.80

10 18.76 (OK) 22.23 (OK) 38.53 (OK) BERHASIL 38.53

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Conclusion

• Target-to-target movement already fulfilled• AGV could move from first to forth terminal

and back