Automated Guided Vehicle (AGV) is commonly used in manufacturing plant, warehouse, distribution center, and terminal. AGV is self-driven vehicle used to transport material between workstations in the shop floor without the help of an operator, and AGV includes a material transfer system located on the top and driving system at the bottom to move the vehicle as desired. For navigation, AGV mostly uses lane paths, signal paths or signal beacons. Various predominant sensors are also used in the AGV. However, in the conventional AGV, there is a problem of not turning or damaging nearby objects or AGV in a narrow space. In this paper, a new driving system is proposed to move the vehicle in a narrow space. In the proposed driving system, two sets of the combined steering-drive unit are adopted to solve the above problem. A prototype of AGV with the new driving system is developed for the comparative analysis with the conventional AGV. In addition, the experimental result shows the improved performance of the new driving system in the maximum speed, braking distance and positioning precision tests.

  본 논문은 존 조정하에서의 자동반송차량 네트워크에서 발생하는 고착을 해결하기 위한 두가지 효과적인 알고리듬을 소개한다. 이 알고리듬들은 특별히 양방향 네트워크에 알맞도록 고안되었다. 사이클 제거 알고리듬은 고착을 예방하기 위한 차량의 안전한 라우트를 결정하나, 그래프 축소 알고리듬은 고착을 회피하기 위하여 미래 잠재적인 고착 발생 조건을 결정한다. 시뮬레이션을 통하여 알고리듬들의 성능을 비교 분석한 결과 작업물의 이동 횟수와 알고리듬의 시간 복잡성