Design and Construction of Robot Prototype Automated Guided Vehicle (AGV) Using Line-Based Vision Camera Sensor Finite State Machine (FSM)
Ilham Ramadhan, Edi Mulyana, Adam Faroqi · 2025
Automated Guided Vehicle (AGV) robots are used for the utilization of technology in the industrial sector. AGVs in the industrial sector can help humans in doing their tasks automatically. This study discusses the design of an Automated Guided Vehicle robot prototype using a vision camera sensor based on a finite state machine-based line. The line tracking robot uses a Pixy2 Cam camera with a line tracking feature as a vision sensor to detect black lines on the robot’s path. The camera reads the origin and destination coordinates and determines the vector value in detecting the path line in real time. The test results in this study are real-time reading of the path coordinates in the form of 2 variable values x and y at the origin and destination points. Other tests have an effect on robot movement in the form of testing the light intensity on the camera, robot navigation time, path line width and material weight variations based on the robot’s travel time to reach the destination point. The implementation of the FSM system is used with several states, namely still, turning, and moving forward. The estimated time for each state is different for the still state, requiring a travel time of 6.58 seconds, the turning state requiring 11.29 seconds, and the moving forward state requiring 12.16 seconds. The results of the FSM method testing were implemented in the robot line tracking program and obtained the robot’s response in following the track line.