Trajectory tracking controller design for AGV using laser sensor based positioning system

Author

Thanh Luan Bui ; Phuc Thinh Doan ; Hak Kyeong Kim ; Sang Bong Kim

Author_Institution

Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Busan, South Korea

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

5

Abstract

This paper introduces a tracking controller for Automatic Guided Vehicles (AGV) to track a desired trajectory. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. Based on kinematic model, a trajectory tracking controller of AGV is proposed. System stability is verified by Lyapunov stability. A laser sensor device NAV200 is used to detect the AGV position in door environment in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.

Keywords

Lyapunov methods; automatic guided vehicles; control engineering computing; control system synthesis; digital simulation; optical sensors; robust control; trajectory control; wheels; AGV; Lyapunov stability; NAV200; automatic guided vehicles; driving wheels; industrial computer; laser sensor based positioning system; laser sensor device; load disturbance robustness; nonlinear Lyapunov technique; passive wheels; sensor noise; trajectory tracking controller design; Angular velocity; Kinematics; Mobile robots; Robot sensing systems; Trajectory; Vectors; Wheels; AGV; Lyapunov; NAV200; tracking; trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606202

Filename

6606202