Title :
Research on a 3 DOF Automated Guided Vehicle based on the improved feedback linearization method
Author :
Ye Xiufen ; Wu ZhiWei ; Zhao Fang
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
The common used 2 degree-of-freedom(DOF) Automated Guided Vehicle (AGV) exists insufficient in flexibility and mobility. In this paper, a 3 DOF AGV structure is adopted with two action wheels and four follower wheels. Compared with the existing AGV, it has the merits of better flexibility and mobility. The kinematic model of the AGV is built, and an improved feedback linearization method for trajectory tracking is proposed. Simulation results show feasibility of the AGV, and verify that the improved feedback linearization control method can accurately control the AGV to track various trajectories.
Keywords :
automatic guided vehicles; feedback; linearisation techniques; trajectory control; 2 DOF automated guided vehicle; 3 DOF AGV structure; 3 DOF automated guided vehicle; feedback linearization control method; flexibility; kinematic model; mobility; trajectory tracking; Educational institutions; Equations; Mathematical model; Mobile robots; Stability analysis; Trajectory; Wheels; AGV; feedback linearization; kinetic model; trajectory tracking;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896619
