Trajectory tracking controller design for AGV using laser sensor based positioning system

Bui, Thanh Luan; Doan, Phuc Thinh; Kim, Hak Kyeong

doi:10.1109/ascc.2013.6606202

Cited by 11 publications

(8 citation statements)

References 10 publications

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“…They consider the robustness in the process of technical implementation. The tracking controller of Bui et al (2013) uses the nonlinear Lyapunov technique to provide robustness for the load disturbance and sensor noise. Zhao and Collins (2005) design novel fuzzy logic controllers for a robust automatic parallel parking algorithm.…”

Section: Related Workmentioning

confidence: 99%

“…Factors such as environmental pollution and minor mechanical defects can interfere with the operation. Therefore, we should consider its robustness when designing control strategies to avoid those factors that could cause AGVs to lose control (Bui et al , 2013; Huynh and Nguyen, 2019; Kayacan et al , 2015; Liang and Rao, 2011; Zhao and Collins, 2005).…”

Section: Introductionmentioning

confidence: 99%

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A novel industrial AGV control strategy based on dual-wheel chassis model

Hua

Huang

Shi

et al. 2022

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Purpose Automatic guided vehicles (AGVs) are widely used in industrial fields. But most control strategies merely take the lateral force into consideration. This will reduce the accuracy, stability and robustness and will pay additional costs. Therefore, this paper aims to design a control strategy that initially considers lateral force. Thereby, it will improve the accuracy, stability and robustness and reduce the overall cost of AGV. Design/methodology/approach To achieve the goal of comprehensively improving AGV operating performance, this paper presents a new scheme, combining the dual-wheeled chassis model (DCM) using proportional–integral–differential (PID) control and a supporting quick response (QR) code navigation technology. DCM is the core, which analyzes the deviation caused by lateral force. Then, DCM with PID control by the control law is combined to suppress the errors. Meanwhile, QR code navigation technology provides effective data support for the control strategy. Findings Most AGV experiments are carried out in a standard environment. However, this study prepares unfavorable scenarios and operating conditions for the experiments that generate detailed data to demonstrate this study’s strategy, which can make an accurate, stable and robust operation process of AGV under various adverse environmental and mechanical factors. Originality/value This study proposed DCM, fully considering lateral force and converting the force into velocity. Subsequently, PID controls the speed of two wheels to reduce the error. QR code provides an efficient and low – cost way to obtain information. The three are cleverly combined as a novel industrial AGV control strategy, which can comprehensively improve the operating performance while reducing overall costs.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel industrial AGV control strategy based on dual-wheel chassis model

Hua

Huang

Shi

et al. 2022

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“…The main advantage of 4WS is to maintain a side slip angle of the miniature vehicle and better dynamic response characteristics, and the vehicle can move in any direction in its working environment. In relevant research fields, a large number of studies have been carried out on automatic guided vehicles, such as AGV laser [10], vision [11,12], positioning [13], navigation [14] and controller design [15]. Among them, the design of the control strategy is an essential task.…”

Section: Introductionmentioning

confidence: 99%

“…10) where, δlf -left front wheel steering angle; δrf -right front wheel steering angle; δlr -left rear-wheel steering angle; δrrright rear-wheel steering angle; Vlf -left front wheel speed; Vrf -right front wheel speed; Vlr -left rear wheel Speed; Vrrright rear wheel speed; V -the speed at the intersection of the medial axis of the vehicle and the virtual axis of the two front wheels. journal.ump.edu.my/ijame ◄…”

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confidence: 99%

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

Yang

2020

IJAME

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This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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“…In (Ramírez-Martínez et al, 2014) an adaptive controller is proposed based on the changing motion of a non-holonomic wheeled mobile robot (NWMR). In (Bui et al, 2013) a Lyapunov-based controller is proposed for trajectory tracking of an AGV using a laser sensor to follow a desired trajectory. In (Fan et al, 2012) a straight-line following algorithm is proposed us-ing PID controller and Fuzzy control.…”

Section: Introductionmentioning

confidence: 99%

LPV Controller Design for Terrestrial Mobile Robot With Tilt Compensation

Filho

Forte

Torrico

et al. 2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

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This work presents an LPV (Linear Parameter Varying) controller design for the trajectory tracking problem of nonholonomic wheeled mobile robots (NWMR). The scheduling varying parameters are defined as the feedforward velocities which the robot has to track according to a desired trajectory. The proposed model also includes the robot's motion over a tilted environment. A tilt-compensation scheme is used to maintain the ground speed of the robot if the robot is subjected to an inclination. The compensation is computed on the feedforward velocities. For practical purposes, the inclination angle is measured by an Inertial Measuring Unit. Thus, a sensor fusion model is proposed to fuse data from an accelerometer and a gyroscope. Simulation results are presented in order to evaluate the performance of the controller, sensor fusion and tilt-compensation models.

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Trajectory tracking controller design for AGV using laser sensor based positioning system

Cited by 11 publications

References 10 publications

A novel industrial AGV control strategy based on dual-wheel chassis model

A novel industrial AGV control strategy based on dual-wheel chassis model

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

LPV Controller Design for Terrestrial Mobile Robot With Tilt Compensation

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