Title :
Holonomic Automated Guided Vehicle control based on adaptive inverse dynamics Control
Author_Institution :
Dept. of Electr. & Electron. Eng., Tokyo Denki Univ., Tokyo
Abstract :
In this paper, we will propose a path control of Automated Guided Vehicle (AGV). This AGV can move for all directions by using steered type wheels. Furthermore we propose an adaptive path control for a holonomic and omnidirectional AGV under the assumption that we can not decide the parameters in designing the control system. Finally we show the validity of proposed method by numerical simulations in this presentation.
Keywords :
adaptive control; control system synthesis; mobile robots; path planning; position control; robot dynamics; vehicle dynamics; adaptive inverse dynamics control; adaptive path control; holonomic AGV; holonomic automated guided vehicle control; omnidirectional AGV; steered type wheels; Adaptive control; Automatic control; Control systems; Gravity; Mobile robots; Numerical simulation; Production facilities; Programmable control; Vehicle dynamics; Wheels; Adaptive control; Mass change; Omnidirectional and Holonomic AGV; Path control;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694218
