Optimal steering control of an auto-guided-vehicle with two motored wheels

Author:

Ock Hyun Kim 1

Affiliation:

1. Department of Mechanical Engineering, Chungbuk National University, San 48, Geshin-Dong, Chongju City, Korea

Abstract

An optimal control procedure is presented for steering an Auto-Guided- Vehicle (AGV) which has two motored wheels on its left and right side. Steering, running and stopping are enabled by controlling the motor speed independently. An optimal proportional-plus-integral control is employed to eliminate steady-state error which is sustained by a simple proportional control for tracking a circular path. A simple and readily-implemented suboptimal control is also examined. The suboptimal control gives comparable performance and therefore provides an effective approach for industrial application of the AGV. Effects of design parameters of the AGV such as forward velocity, wheel radius and position of sensor are investigated. It is shown that within the practicable values the controlled performance improves rapidly but with an increase of those parameters then the improvement becomes negligible, which suggests base values for the parameters.

Publisher

SAGE Publications

Subject

Instrumentation

Reference6 articles.

1. Kuester, J.L. and Mize, J.H. 1973. Optimisation technique with fortran. McGraw-Hill Company, New York, 320-330.

2. Steering Controller Design For Automated Guideway Transit Vehicles

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Mobile robot tracking of pre-planned paths;Advanced Robotics;2001-01

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