Study and development of an autonomous layout entering algorithm for an industrial AGV

The main topic of this thesis is the trajectory generation for the autonomous layout entering of an automated guided vehicle in an indoor environment. I specifically studied a control model for a quadricycle vehicle. The thesis is structured in four chapters. The first chapter illustrates the Shark vehicles produced by System Logistics S.p.a.. In particular, the chapter is centred on the explanation of kinematic model of quadricycle vehicle, introducing also a brief explanation of what is a layout and an introduction of what is the operating system that control the process (QNX). The second chapter explain in a detailed way what is the problem of autonomous layout entering, also called auto-nsertion, and the control methodology to manage it, showing in a detailed way all the steps starting from the consideration of the pose of the vehicle and the final pose to reach, considering also all the mechanical limitations. The third chapter shows all the simulative work carried out by means the Matlab and Simulink tools. It shows also all the results both with an ideal model and a real one and considering some disturbances and measurement errors. In the fourth chapter the real test are explicated by the use of a real test area and a real AGV (Automated Guided Vehicle) with the Shark. The conclusions highlight some considerations about the use of this method and some comparison with other possible methods.