Intelligent coordination steering control of automated guided vehicle

Zhan, Yue; Guo, You Guang; Zhu, Jianguo

doi:10.1109/asemd.2011.6145101

Cited by 2 publications

References 4 publications

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Research on a 3 DOF Automated Guided Vehicle based on the improved feedback linearization method

Zhao

2014

Proceedings of the 33rd Chinese Control Conference

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The common used 2 degree-of-freedom(DOF) AutomatedGuidedVehicle (AGV) exists insufficient in flexibility and mobility. Inthis paper,a 3 DOF AGV structure is adopted with two action wheels and four follower wheels. Compared with the existing AGV, it has the merits of better flexibility and mobility.The kinematic model of the AGV is built, and an improved feedback linearization method for trajectory tracking is proposed. Simulation results show feasibility of the AGV, and verify that the improved feedback linearization control method can accurately control the AGV to track various trajectories. AGV, kinetic model, feedback linearization, trajectory tracking Along with the development of intelligent mobile robot technology, the structure design and the trajectory tracking control of mobile robot has become a hot research field. AGVsystem is mainly used for transporting goods in warehouses and cargo storage areas.Some of the AGV system used in non-manufacturing sectors such as hospitals, offices and other places, play the role of handling a variety of items [1,2].Classified by driving way, the AGV at home and abroad mainly includes the following driving types: single steering wheel, dual steering wheels, differential and multi-steering wheels. Single steering wheel modelsare often used in three-wheel AGV.The advantagesare that it has simple structure and control mode, but the disadvantage is that it turn overdue to the high center of gravitywhen making a turn. Differential drive mode is usually used in four wheels AGV, it relies on the speed difference between the two drive wheels to adjust the trajectory.The advantage is its stable operation and simple structure. However, such a structure relays on the high performance of motor and the accuracy of the vehicle sensors, otherwise it is difficult to track the trajectory as expected.Multi-steering wheelsmode is applied on large-scaled AGV.Because it needs to control multi-motors,the establishment of control model is very complex, and it is difficult to control. Dual steering wheelsmode is applied on four or six wheels AGV, the difference between them isthe number of following wheels. The advantageisits simple structure, and it will not turn over due to the unsteady of the center of gravity when turning. In addition, the establishment of control model is simpler than multi-steering wheelsAGV, but the flexibility is better than Differential driveAGV.It can realize the way of any movement on horizontal plane, suits for the job that requiredhigh, and had better work in smooth ground [3,4].The commonly-used AGV control algorithms includefuzzy PID algorithm, artificial neural network[5] and the feedback linearization method. Fuzzy PID algorithm can automatically adjust the parameters,and is more applicable for simple nonlinear systems, but for severenonlinear *

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Research on a 3 DOF Automated Guided Vehicle based on the improved feedback linearization method

Zhao

2014

Proceedings of the 33rd Chinese Control Conference

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Simulation Approach for Logistical Planning in a Warehouse: A Review

Fauadi

Azimi

Anuar

et al. 2018

rient. J. Comp. Sci. and Technol

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Simulation approach has been widely utilized for design and planning of a warehouse logistic system. As technology advances, better simulation tools have been developed. This enables decision makers to create more realistic models to represent the actual scenario. As a result, better evaluation could be made especially regarding dynamic factors within system. Thus, complex logistic problems could be solved. This paper reviews the fundamentals of warehouse logistic and the simulation tools available to analyze logistic problems.

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Intelligent coordination steering control of automated guided vehicle

Cited by 2 publications

References 4 publications

Research on a 3 DOF Automated Guided Vehicle based on the improved feedback linearization method

Research on a 3 DOF Automated Guided Vehicle based on the improved feedback linearization method

Simulation Approach for Logistical Planning in a Warehouse: A Review

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