Experiment Study of Multi-Step Predictive Control in AGV Path Tracking

Author

Shi, Enxiu ; Guo, Junjie ; He, Changlin ; Cai, Tao

Author_Institution

Xi ´´an Jiaotong Univ., Xian

fYear

2007

fDate

18-21 Aug. 2007

Firstpage

531

Lastpage

535

Abstract

Automatic guided vehicle (AGV) is a kind of wheeled mobile robot (WMR) that is used to convey material and supplies in unmanned production workshop. To finish transporting task for differential driving XAUT.AGV100 with nonholonomic constraints made by ourselves, multi-step predictive control algorithm (MSPCA) is designed and used to control AGV to track plan-path to improve the speed of path tracking and the stability of motion. It is verified that MSPCA is feasible and effective through by the theory simulation and the experiment.

Keywords

automatic guided vehicles; industrial robots; materials handling equipment; mobile robots; path planning; predictive control; stability; AGV path tracking; automatic guided vehicle; material handling; motion stability; multistep predictive control algorithm design; unmanned production workshop; wheeled mobile robot; Algorithm design and analysis; Automatic control; Mobile robots; Motion control; Prediction algorithms; Predictive control; Production; Stability; Tracking; Vehicles; AGV (Automatic Guided Vehicle); Multi-Step Predictive Control; One-Step Predictive Control; Path Tracking; Plan-path;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2007 IEEE International Conference on

Conference_Location

Jinan

Print_ISBN

978-1-4244-1531-1

Type

conf

DOI

10.1109/ICAL.2007.4338622

Filename

4338622