A Free Navigation of an AGV to a Non-Static Target with Obstacle Avoidance

The industry is changing in order to improve the economy sector. This is the reason why technology is improving and developing new devices. The autonomous guided vehicle with free navigation is a new machine, which uses different techniques to move such as mapping, localization, path planning, and path following. In this paper, a path following is proposed. The path following is called moving to a point, which uses the proportional distance between the target and the autonomous guided vehicles (AGV) to calculate the velocity and direction. If some obstacles appear in the trajectory, however, the vehicle stops. Instead of stopping the machine, by using moving to a point logic, an obstacle avoidance function will be implemented. In this implementation, different parameters can be configured, such as: security distance, which determinates when the obstacle avoidance must correct the pose; and proportional values, which modify the velocity and steering commands. It is also compared to a dynamic window approach (DWA) obstacle avoidance solution. Additionally, the AGV navigates to a non-static target with a path following algorithm.