A navigation simulator for an automated guided vehicle with multiple on-board sensors

Abstract

A computer-based simulator for an automated guided vehicle (AGV) with multiple on-board sensors and actuators navigating within an enclosed environment was developed to provide a low-cost testing ground for intelligent driver-less navigation. The simulator models an AGV equipped with ultrasonic, photo-detecting, and direction sensors, while being propelled for motion by two variable speed wheels. This paper presents design details and simulation results for a wall- following AGV within an enclosed environment. Qualitative results show that the path of the simulated AGV are comparable to those traced by an actual hardware-based AGV implementation.