Development of the Control Method for AGV to Navigate in the Warehouse

Logistics activities with automatic guided vehicles (AGV) are essential in the warehouse in Industry 4.0. With the help of AGV, transporting goods in the warehouse will become more accessible and convenient. AGV navigation operating in friendly environments is currently being researched and developed because the AGV must maneuver in an area with moving obstacles. An RGB-D camera is used for automatic navigation to scan the working environment and recognize barriers in front of the AGV. A cylinder is mounted on AGV to perform lifting tasks. The mapping method used in this paper is Rao-Blackwellized. This method is implemented with the support of ROS. The motion navigation is performed by the A* algorithm. In the process of moving, if the AGV detects a person in front of it, it will re-plan the trajectory with its current position by the AMCL method. These proposed methods were tested and applied successfully in a narrow environment.