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A Roaming Vehicle for Entity Relocation > Load versus time of travel - Pg. 138

Experimentation Results Experiments were carried out to understand the basic behavior of the AGV. These experiments were carried out in an open space using the facilities at the University of the South Pacific. 5.1 Load versus time of travel 5.0 Load vs Normal Current · Tria 11 Tria 12 Load was gradually added to the AGV and the mean time taken to complete a 2.4 m path was recorded. The path was completed using line tracing. Figure 6 shows the results. It is noticed that the time to travel increases from 6 s to approximately 8 s with an increased load of 25 kg from no load (0 kg). Load vs Tim e 10 20 Tria 13 Load (kg) Figure 7 Load versus normal current 5.3 8 Station stopping response distances I 6 4 · · · Tria 1 Trial 2 Try 3 Mtsn -- Best Fil 0 ( 1 10 20 30 L03d (kg) Figure 6 Load versus time for line tracing This relates to a decrease in speed by 2 m/s with a 25 kg increase in load. It can therefore be inferred that there is an approximate decrease in Another experiment was carried out to observe the response distance of the AGV to stop upon detecting a station. The response distance consists of the extra distance the AGV travels once the sensors have detected the station. This response distance is caused by the time it takes the sensor to transfer information to the PIC 16F877 and the time it takes the PIC16F877 to process the information and instigate a reactive response. The results of the experiment provide details on the distance over which the AGV can stop after a station is indicated. Distances of the station were varied to notice if the stopping distance is affected by acceleration. The station was a white box with a width of 30cm.