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

Authors :
Hak Kyeong Kim
Sang Bong Kim
Thanh Luan Bui
Phuc Thinh Doan
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