2. Slide 1 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson AGVS Guidance Systems And Routing Kevin Ferguson Goodyear Tire & Rubber Co.

3. Slide 2 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson AGVS Overview Components – Controller – Sensors – RF Modem Vehicles – Fork Truck – Tow Truck – Conveyor Deck – Scissor Lift Guidance Systems and Routing

4. Slide 3 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Problem Area How Does a Company Choose a Guidance System? What Things Need to Be Considered When Choosing a Route?

5. Slide 4 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Guidance Systems (1) Wire Guidance – Wire Placed in Floor – Vehicle Follows Wire Coils Straddle Wire in Floor Voltage Difference is 0 When Centered If Off Center, Coils Create Steering Signal – Disadvantages Vehicle May Not Know Location Not Flexible – Advantages Reliable Good for Dirty Environment

6. Slide 5 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Guidance Systems (2) Optical Guidance Systems – Use Paint or Reflective Items on Floor – Light on Bottom of Vehicle Reflects off The Paint/Items – Sensors Detect Light and Guide Vehicle – Disadvantages Paint/Items Wear Must Be Clear of Obstructions – Advantages Flexible Easy to Repair

7. Slide 6 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Guidance Systems (3) Laser Guidance – Laser Scanner Looks for Reflective Targets – Scanner Measures X and Y Coordinates from Targets – Target Locations are Preprogrammed – Needs Three to Five Targets in “Sight” – Disadvantages Requires Additional Setup Time 15-30% Increase in cost – Advantages Flexibility Used in Rough Terrain

8. Slide 7 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Guidance Systems (4) Inertial Guidance System – Gyroscope Detects Accelerations – Information from Gyroscope is sent to Controller to Direct AGV – Disadvantages Parts Wear To Be Effective, System Needs Additional Guidance Devices – Advantages Flexibility Reliable

9. Slide 8 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Guidance Systems (5) Dead-Reckoning – Rotation and Steer Angle Are Measured – Wheel Slip Gives False Readings The Future – More Laser Guided Systems – Use of GPS

10. Slide 9 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Routing Considerations Number of Vehicles Floor Space Static Guide Path – Unidirectional – Bi-directional Dynamic Path Source/Delivery Points Routing Efficiencies

11. Slide 10 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Conclusions/Implications (1) Systems Have Merit Must Carefully Consider Desires for System Prior to Selecting Route and Guidance System Wire Guided Systems are Most Reliable Laser Guided Systems Maximize Flexibility

12. Slide 11 AGVS Guidance Systems and Routing  2000 Kevin W. Ferguson Conclusions/Implications (2) AGVS Use Computers Instead of People AGVS Offer Coverage Around the Clock at No Additional Cost Another Application of Computer Integrated Manufacturing