Proper

Abstract

An AGV, which is a trackless unmanned moving vehicle, mainly travels a predetermined route by itself with the aid of either ultrasonic sensors, or infrared sensors, or vision sensors. In this paper, we propose a method to effectively control the moving path of the AGV in the rotation section using BLE beacons. That is, the BLE beacon is used to recognize the rotation preparation point and the rotation start point, and the speed of the AGV is adaptively decelerated based on this value. It can be possible to adjust the deviation with the center line of the normal path so that the AGV can enter the center of the straight path immediately after the rotation. A total of 100 experiments were conducted in the rotation section using the mock-up AGV, and the number of out-of-path counts was only 1 to 3 times.