AGV Control using Voice Command

Automated guided vehicles (AGV) have applications in various fields ranging from the process industry to many more. AGV has its history from the early 50s to till date. However, it’s been gone through several modifications in structure, design, and techniques. In its simple form, it completes its task using navigation. This paper aims to give a review of the various technological advancements in the field of Automated Guided Vehicle in the past few years. In this review, various navigational techniques and structural designs have been addressed. The various techniques of navigation have been studied and are used by various manufacturers in the world. The review includes the various structure of AGV which is currently in use in the market. In addition to this, the voice recognition technique has also been addressed.


Introduction
The use of an AGV is possible to move objects, such as food, medication, metal, and plastic, between locations.Technique, architecture, and design for AGV have all changed over time.The facility's vehicles navigate using a variety of guiding technologies, such as lasers, optical sensors, magnet/gyroscope-based inertial guidance, and floor-surface mounted magnetic tape or bars.In reaction to facility modifications, it is simple to modify the paths and expand the AGV system using these navigational technologies, providing a scalable and flexible material handling solution.Computer-based software uses wireless connections to gather data about each AGV's present location in order to control and monitor several AGVs in real-time.It then talks with the routing and destination logic software.By wirelessly delivering specified duties to the AGVs using radio frequency (RF), the software controls how the vehicles move.Stops, starts, speed changes, lifting, lowering, multi-point turns, reverses, leaving the guidance path, and interacting with other material handling machinery and systems, both automatic and static, are all examples of instructions.Autonomous driving is being introduced with the help of the Raspberry Pi, which has a high-definition camera equipped with an ultrasonic sensor to input crucial information from the outside world to the vehicle.In order to give the vehicle control, obstacle detection is coupled [1].
Navigation is the basic requirement for the transport of the vehicle.For that thing, the vehicle uses various techniques such as RF tag-based navigation in which it follows the lane width and tries to remain at the center of the lane.There is also one technology known to be the voice-operated Automated Guided Vehicle.The 'Jarvis' is being introduced for operating the AGV with the help of voice command and executing it.We have also reviewed the basic robust design which states the integrity of the vehicle and also how much weight capacity could it carry; the robustness of the structure is important because it provides the sheer quality of the product.The SLAM is being used in

Problem Definition
In flexible production systems, automated guided vehicles (AGVs) are employed as material handling tools.They are employed in many different contexts, including transportation systems, container ports, and warehouses.AGVs with automated navigation are very useful in industries where multiple-path operation is necessary.As these AGVs didn't require any defined path by magnetic taping they are more efficient and reliable in industrial as well as in other sectors.

Problem Definition
An Automated Guided Vehicle (AGV) is a mobile robot that is programmed to perform material handling tasks without the need for human intervention.AGVs are frequently utilized to move items and materials between locations in industrial plants, warehouses, and distribution centers.AGVs can move along specified courses using sensors and other navigational technologies, like laser-guided systems or magnetic strips on the floor.
To prevent collisions with humans or other objects in their route, they also have safety measures including obstacle detection sensors and emergency stop buttons.AGVs may move a variety of items, including heavy machinery, work-in-progress, finished commodities, and raw materials.They are especially helpful when human employees may be exposed to hazardous chemicals or surroundings or when repeated operations need to be carried out across vast distances.AGVs are a valuable tool for The first AGV convention was held in Duisburg, Germany.

1992-1997:
Inertia-based navigation.Contactless sensors and electronic guiding In AGV, neural networks (AI) are implemented.Robot development in collaboration.

2006-2012:
Al is widely used in navigation, collision avoidance, guidance, and AGV vision systems.Tracking using wireless network.AGV swarm deployment.

1998-2005:
AGV at a low cost.RFID-assisted AGV (for example, Kawasaki).Floor routes that can be changed for navigation.AGVs with free range are being studied.improving productivity and efficiency in industrial settings while lowering the risk of accidents and injuries related to manual material handling.

Lane Discernment.
The AGV moves along a line whether marked with the help of magnetic tape, or laser-guided, gyroscopic navigation.AGV has to decide to select the path or Lane.Lane discernment can be done by two methods, namely, Feature-based technique and Model-based technique.
By combining painted lines or edges, etc., the feature-based technique localizes lanes for road photos it requires the road with accurately mentioned lines otherwise it will not be able to recognize the lane.On the other side in model-based technique, it requires only some parameters in recognition of the lane.presuming the size of the lane can be stated by whether a straight line or parabolic curve, the process of discernment of lanes is defined as the process of determining model parameters [7].

Autonomous Obstacle Avoidance.
Nowadays, with the advancement in techniques AGV can avoid the obstacles to operate.The auto avoidance of the obstacle consists of a pre-programmed obstacle-free path by which the controller will direct the vehicle.The inverse perspective mappings help to determine the displacement of goods that are far in the distance of known camera parameters by using the ultrasonic sensor because it doesn't require any high CPU computations.It works as followsi) Check the surroundings and calculate the distance ii) The minimum separation between the vehicle and the hurdle is 1 meter.If the calculated separation is less than 1 meter.iii) Move the vehicle in another direction.From the above points, authors have concluded that autonomous navigation is possible in automated guided.

The Voice Commanded AGV.
The voice-operated AGV is defined as a vehicle that operates on the command of your voice.By applying the various techniques firstly by introducing the voice-operated program of Python 'Jarvis'.It will be connected to the Arduino processor and later on, connected to the mobile software [8][9].By commanding the AGV we could easily save time in the manual commands It will need more flexibility and understanding of the language by the command receiver.A huge amount of research is already in progress.Automated Guided Vehicle is alike a pallet truck dissimilarity is here it is own-driven.An MGS1600C magnetic guide sensor is installed for observing the path.the AGV will trace a path constructed of magnetic tape stuck on the ground.The MGS1600C will calculate much distance from the center of the tape and it transfers the information to the motor controller which will modify the steer so the vehicle remains stuck to the center of the path.

Robust Design in Automated Guided Vehicle.
A complex of engineering techniques known as robust design aids in producing a high-quality product or function regardless of changes brought on by production, the environment, deterioration, and consumer usage.The research and development phase may produce adaptable, high-quality products more quickly and affordably using the robust design technique [10][11].The robust design of the vehicle is independent of the noise.The robustness of the AGV is categorized into three parts, namely, Conception design, Framework design and Forbearance design.
Different methods can be installed into a system to improve its robustness.Any sort of faulttolerant mechanism will make sure that the AGV will run with full safety even when there is a hindrance or any change coordinates.It has been experimented that laser navigation is not precise enough especially when the vehicle is taking turns which consists of stabilization and does not provide precision, repetitiveness, and assurance.

Integration of Algorithms for Map Constructions.
The autonomous robot needs a map to construct for their transport, but the road mapping technology is insufficient [12].To overcome this problem an artificial intelligence navigational system is introduced known as SLAM (Simultaneous localization and mapping).It is considered to be the most advanced navigation system.It determines the position and map's locations by use of the sensors but there are some errors involved in the accurate positioning.It has been represented as a combination of algorithms that allow map-building navigation of mobile robots.Simultaneous Localization and Mapping (SLAM) algorithm, inspired by the Fast SLAM method is a preferred method.A navigation system is derived from a Vector Field Histogram (VHF) to circumvent hindrance and a spiral-way trajectory method.

MTAB Rover -Wireless Material Handling System.
The design, execution, and investigational results of RF-based wireless control of a PLC Controlled Automated Guided Vehicle, which is called MTAB ROVER [13][14].The rover is controlled by the Programmable logic controller.It is powered by a 12v-26AH battery.It is controlled by the WIFI device.The general representation of the rover is given in Figure 2. The rover consists of a navigation system and a communication system.It is based on RF-based wireless control.One transceiver is used in emitting two-bit data from a hostile site computer and the other is devoted to receiving data on the rover and then sharing it with the main controller.The communication port is a serial interface from the remote PC to the PIC8888 Boot loader board.The command window engages remote AGV control and is enough powerful to send x and y coordinates which are required to guide Rover.

Methodology
A vehicle guidance system is a method of defining an AGV and controlling the vehicle to follow the road.The AGV uses a guided routing system to choose a route based on the programmed path.It makes use of sensor measures and contrasts them with values input by the programmer.The AGV

Wireless Control Device
only needs to choose whether to follow the path when it reaches a decision point.The recognition and subsequent recognition of various properties of objects in the environment, which may be known in advance or extracted dynamically, is the foundation of landmark-based navigation systems.The newest path-finding technology does not permanently determine the path.It employs a settlement navigation system that offers the heading and angular speed of an autonomous mobile robot in addition to its position.A mobile robot is a machine with some autonomy that can move around in an area.
Navigation is then linked to available external sensors that capture workspace information through proximity measurements and visual images.It interfaces with central systems and sensor systems to detect barriers in a warehouse or environment.A recognition brain created for autonomous robots.This mobile robot works on mainly all the coding is done in Arduino and transmitted to the application where we can control this AGV.All the commands sent from the application to AVG like forward, backward, right, left, etc.When the error is high, the motor will turn off.The controller first computed its present position, and then it calculated the error from the target position.Mathematical models can describe how AVGs work within manufacturing/warehouse units.The effective travel time of an AGV from the loading cycle to unloading can be used to gauge its efficiency.With this mathematical model, we may ignore the effects of acceleration delays and other speed variations and assume that the AGV travels through the environment at a constant speed [15].A typical AGV distribution cycle system runs at the following times and the delivery and return loop are shown in Figure 3.The mathematical model of the system is shown in equation ( 1).
where, Tt = Delivery cycle (Minutes Per Delivery), Ti = Loading Time (Minutes), Li = Travel time from the load to the unloading station, v = Velocity, Tf = Time to unloading station, Lf = Travel time to the beginning of the subsequent delivery station to discover no vehicles inside a space, m = Amount of vehicle, W = Load work (Minutes), T = Available time (Minutes) to determine the entire workload in terms of time or the total quantity of work, Rs = total hourly deliverables for the system AT are determined by the amount of time per vehicle that is available.The total time needed to complete a task is calculated using the equation (2).Various optimization algorithms can be applied for the AGV's ideal timing.

Components Used
The following components used to build the AGV.
Motor: Due to their ability to be supplied by existing direct-current lighting power distribution networks, DC motors were the first type of motors that were widely employed.The internal mechanism of almost all types of DC motors, whether electromechanical or electronic, allows for periodic changes in the direction of the motor's current.We used a 12-volt DC motor with 100-200 horsepower rpm.
Arduino: The Arduino platform comprises a physical programmable circuit board (often known as a microcontroller) and software; the Arduino IDE employs a condensed version of C++ to make programming simpler.This is the main control center of the AGV which commands all the motors, sensors, and receivers and ESP8266/Node MCU will be used for this.
Battery: The battery used in AGV is the Lithium-ion type which provides 4V DC output.The battery pack consists of 2600mah in which three cylinders of Li-ion battery are connected in parallel for generating high voltage, so the demand of the system can be fulfilled, this battery pack is light in weight which increases the efficiency of AGV.
IR Sensor: An electrical device that monitors and detects infrared radiation in its environment is called an infrared (IR) sensor.The main advantages of IR sensors are their low power consumption and simple design.It is used in AGV to detect component in front of it and can be procured from collision.
Receiver: Any device that accepts signals, like radio waves, and transforms them into a usable form is a receiver in electronics.It will help to control the AGV with the mobile application.
Software: The problem is developed and fully controlled by mobile application through voice commands.It works on four commands which can be extend with more commands.The commands are forward, Backward, Right, and Left.The mobile applications are suitable for Arduino and since is easy to operate, it provides lot of flexibility.The application is Arduino voice control "Version:1.2".

Model Build
The structure is built of aluminum metal to provide it the robustness and weight reduction.The top view and the left view of the guided vehicle is shown in Figure 4 and Figure 5 respectively.
The vehicle weight is 8.16 Kg including gross weight and structure weight.The wheel size in diameter is 3.94 inches and the wheel weight is approx.0.099 Kg/ per wheel, number of wheels is 4 pieces.The rolling Friction coefficient between the wheel and the surface is 0.30.The load inertia of the vehicle is approx.1143 oz-in^2 and total load inertia is approx.1143 oz-in^2.The required speed is near 9.707 r/min.The required torque is 600.7 oz-in.Acceleration Torque is 3.011 oz-in.Load torque is approx.297.4 oz-in.Required Stopping Accuracy is approx.29.12 deg.The real-time (working model) structure images are shown in Figure 6 and Figure 7.

Conclusion
The use of AGV is well-known to the world.Once a product is loaded into an AGV, it offers superior accountability, reducing lost products.Whereas labor costs frequently rise and fluctuate based on a variety of factors, an automated guided vehicle system's expenses can be fairly predictable and its course modified as production and handling requirements vary.In this paper, various techniques and strategies for AGV have been addressed.The paper has reviewed the various evolutions in the field of Automated Guided Vehicles.Since from the RF sensor-based navigation to the SLAM.Voice recognition is new in this field hence the various clichés need to be addressed.The AGV is in the defense where it could be utilized as a rover which can provide could be utilized as rover which can provide ammo to the soldiers in close firing conditions without sacrificing the life of the soldier.It is also of the defense that it could be used as an unmanned bomb detection machine that could detect the land mines in several restricted areas.It could be used as a patrolling spy vehicle in the border areas.
After detecting all the probabilities, it could give the pinpoint location to the operator where the problem is detected.Apart from the military, it has many industrial benefits in the gas pipeline it could be used to detect the problem instead of humans.A method for obtaining the 3D-CGI structure of an unknown environment or unknown locations as well as the motion of sensors in the unknown environment is called simultaneous localization and mapping (SLAM).This approach was initially put forth in the field of robotics for autonomous robot control.Since then, SLAM-based applications have proliferated [16][17], including self-driving cars, augmented reality (AR)-based visualization, and online 3D modeling powered by computer vision (like Tesla).

Future Scope
The use of voice commands to control AGVs is poised for rapid growth and development.Voice recognition technology advancements, AI integration, safety features, and customization will shape the future of this technology, making AGVs more efficient, user-friendly, and adaptable to a variety of applications.Future research in the field of Scalability and Industry Adoption, Interoperability and Environmental Adaptation will pave the way for use of AGVs.

Figure 1 .
Figure 1.Flowchart and timeline of AGV.According to reviewed published works, wireless networks have increasingly been used to manage and operate AGV fleets in the most recent ten years.The usage of open-source software like Robot Operating Systems and the incorporation of artificial intelligence (AI) technology are both widespread practices (ROS).The flowchart and the development chronology both display the entire timeline of development as well as instances of AGVs that emphasize the integration of each technology as shown in Figure 1.

:
ROS (Robotnik), roscpp (c++-based ROS), and rospy (Python-based ROS) are widely used.Al implementations for AGV that are open source.AMR and AGV technologies are being combined.Investigate a 5G wireless system for AGV navigation.Arrival of mobile manipulators (robotic arms on wheels).

Figure 4 .
Figure 4. Top view of a Mech.Model of AGV.Figure 5. Left View of a Mech.Model of AGV.

Figure 5 . 8 Figure 6 .
Figure 4. Top view of a Mech.Model of AGV.Figure 5. Left View of a Mech.Model of AGV.