Control system design and dynamic simulation of an autonomous vehicle for factory automation

This paper focuses on the control system of an autonomous vehicle, to be used inside a factory workcell. The input for the control system is the path to be followed by the vehicle, generated by the trajectory planning module. The designed control system ensures the stability of the vehicle, minimizes the deviations from the planned trajectory and enables the vehicle to bypass unforeseen obstacles detected by sensors. A kinematic model and a dynamic model of the vehicle have been developed, in order to obtain an estimate of the vehicle´s position, that is necessary to close the feedback loop of the control system. The designed control loop has been successfully tested in simulation and in real world applications