AGV Payload Delivery
Intro to Design Project
Summary :
The AGV Payload Delivery System is a fully autonomous robotic vehicle designed to identify, pick up, and transport payloads to a target location. It integrates sensor-based navigation, object detection, and automated gripping mechanisms to execute precise and reliable deliveries.
This was my first project that included a variety of peripherals and sensor components, while considering careful design considerations to achieve an open-ended task to deliver a payload from one loaction to another.
Project Overview
What?
-
Design a payload delivery vehicle proof-of-concept tasked with moving an object to a target location.
-
Fully autonomous, must recognize, grab, and deliver payload following an optimal route.
How?
-
Designed Robot gripper arm driven by a servo motor.
-
Implemented ultrasonic sensor for object detection.
-
Implemented line tracking and obstable avoidance sensors to the vehicle for route navigation.
-
Programmed on arduino microcontroller.
Results
-
Sucessfully achieved payload delivery task using the inbedded sensor peripherals.
-
Issues were discovered with the physical car design that negatively impacted navigation, however, proof-of-concept was achieved. Further iterations require better mechanical systems.
Payload Handling & Object Detection:
-
Robotic Gripper Arm: Designed and integrated a servo-driven gripper arm to recognize, grasp, and securely transport the payload.
-
Servo pinion gear turns both gripper drive gears closing the claw.
-
Designed to fit existing mounting holes of the robot car
-
-
Object Detection: Implemented an ultrasonic sensor to detect and localize the payload before initiating the gripping mechanism.
-
Ultrasonic sensor detects distance is adequate to engage the gripper.
-
Control Logic & Implementation
-
Retrieve Ultrasonic Data
-
Loop 1:
-
Check if cube is within distance
-
get close to it
-
Exit loop if cube is within distance
-
-
Loop 2:
-
Grab cube
-
Go to location
-
Drop-off,
-
return to location and exit loop
-
-
Repeat: Arduino allows for an infinite loop after setup is initiated, it becomes repeatable and automated