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Trajectory tracking controller design for AGV using laser sensor based positioning system
- Source :
- ASCC
- Publication Year :
- 2013
- Publisher :
- IEEE, 2013.
-
Abstract
- This paper introduces a tracking controller for Automatic Guided Vehicles (AGV) to track a desired trajectory. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. Based on kinematic model, a trajectory tracking controller of AGV is proposed. System stability is verified by Lyapunov stability. A laser sensor device NAV200 is used to detect the AGV position in door environment in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.
Details
- Database :
- OpenAIRE
- Journal :
- 2013 9th Asian Control Conference (ASCC)
- Accession number :
- edsair.doi...........137c19402d5441e80ac91e521da3ef3e
- Full Text :
- https://doi.org/10.1109/ascc.2013.6606202