151. Accurate data-driven sliding mode parking control for autonomous ground vehicles with efficient trajectory planning in dynamic industrial scenarios.
- Author
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Jiang, Liquan, Deng, Yuxuan, Jiang, Zhihui, He, Ruhan, Yu, Hao, Xu, Weilin, and Meng, Jie
- Abstract
Autonomous Ground Vehicles (AGVs) can transfer or load and unload material in industrial scenarios due to their flexibility and operability, freeing people from tedious and repetitive labour. However, the dynamic scene and the system model uncertainty reduce the parking accuracy of AGVs in industrial scenes, which seriously affects the autonomous operation robustness and accuracy. Using sliding mode parking control with trajectory planning based on iterative error compensation, this paper proposes a data-driven parking control-planning integration solution for AGVs in complex industrial scenes, which allows AGVs to park accurately and converge to the target parking site quickly. First of all, a data-driven discrete sliding mode controller has been developed to iteratively enhance parking accuracy and effectively rectify the target parking position. This controller showcases insensitivity towards disturbances encountered during the erratic iterative error compensation process, thereby ensuring rapid and asymptotic convergence of the parking error in industrial scenarios. Then, to achieve efficient and smooth planning with the target parking site constantly being corrected, an improved Bi-RRT based trajectory planning scheme is proposed by considering operational constraints and node expanding region division, which provides the trajectory that contributes to parking convergence for the proposed controller promptly. Finally, the efficiency of the proposed method is verified by real-world experiments with self-developed AGV in industrial scenes, and experimental results show that the proposed method achieves accurate parking control with efficient trajectory planning and rapid parking error convergence. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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