Design of Swerve Drive Navigation System for Automated Guided Vehicles (AGV) with Inverse Kinematics Method

Frontiers in artificial intelligence and applications

Abstract

A reliable navigation system is key to developing advanced robots. Researchers from several fields are working together to perfect these systems to enable robots to determine position and orientation accurately and quickly. This process involves sensor data collection, interpretation, path planning, and execution. The study focuses on designing a swerve drive navigation system for Automated Guided Vehicles (AGV), integrating inverse kinematics and sensor fusion methods. The system is applied to a 500 mm x 700 mm robot base equipped with three swerve drives. In the system used, inverse kinematics calculations convert robot velocity into individual wheel speeds, while sensor fusion combines data from odometry, gyroscope, and hall-effect encoder to improve navigation accuracy. Integrating such odometry and gyroscope data makes it possible to perform local navigation or estimate the robot’s position relative to its initial position. Furthermore, a PID controller is added to maintain the setpoint, and a Kalman Filter aims to reduce noise and inaccuracies in sensor data. This study uses the research and Development (R&D) method, considering quantitative aspects to develop a comprehensive understanding of the technical performance and use of the system. The results of this research are expected to provide a navigation system that can effectively support Automated Guided Vehicles (AGV) in achieving their goals.

Authors 6

1. I Putu Eka Widya Pratama

   Institut Teknologi Sepuluh Nopember

   Affiliation as printed

   Department of Instrumentation Engineering, Faculty of Vocational Studies, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia

2. Saurizha Mulia Subagiyo

   Institut Teknologi Sepuluh Nopember

   Affiliation as printed

   Department of Instrumentation Engineering, Faculty of Vocational Studies, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia

3. Muhammad Roy Ashiddiqi

   Institut Teknologi Sepuluh Nopember

   Affiliation as printed

   Department of Instrumentation Engineering, Faculty of Vocational Studies, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia

4. Ahmad Radhy

   Institut Teknologi Sepuluh Nopember

   Affiliation as printed

   Department of Instrumentation Engineering, Faculty of Vocational Studies, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia

5. Arief Abdurrakhman

   Institut Teknologi Sepuluh Nopember

   Affiliation as printed

   Department of Instrumentation Engineering, Faculty of Vocational Studies, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia

6. I Dewa Gede Dhanda Prastya Aachen Faculty of Electrical Engineering and Information Technology

   RWTH Aachen University

   Affiliation as printed

   Faculty of Electrical Engineering and Information Technology, RWTH Aachen University, Aachen, Germany