الفهرس 
INTRODUCTIONOnly 14 pages are availabe for public view
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Abstract
This study is directed to provide an enhanced model for automated guided vehicle (AGV) system in order to automate specific maneuvers for small steering angle (SSA) vehicles. This model is based on specially designed maneuvering trajectory for the concerned type of vehicles and its main target is to overcome the mechanical limitations in steering angle. The current automation techniques and methodologies are standing well in serving most of commercial systems for regular and traditional vehicles. However, huge and heavy-duty vehicles, such as cranes and trucks, suffer from lack behind in research efforts regarding the automated maneuvering and its applications. The start point for this study is to analyze the existing motion control system for SSA vehicles, then detecting its anticipated gaps that would lead to process deficiency. Mathematical system aided with geometrical representation is suggested to provide alternative model for the concerned type of vehicles. This suggestion is exploring conventional steering mechanism especially Ackerman Steering Principle, then developing parallel mathematical model for the proposed AGV system in a similar way for conventional automation systems. The mathematical model is transformed into geometrical logic providing the actual interpretation for each actual movement. The previous model is enhanced by flowchart that illustrates the detailed steps for the proposed solution. After that, various simulation techniques and models are applied to evaluate the efficiency and reliability for the suggested system. The practical work is initiated after estimating the preliminary benefits from simulation models, this practical side had been performed over two proto-type robots and real time vehicle of Genie S-65 Telescopic Boom-Lift. Finally, Simulation results have been compared with experimental results to validate the proposed model and take its results as reliable information.