A Distance-Reduction Trajectory Tracking Control Algorithm for a Rear-Steered AGV

Pamosoaji, Anugrah Kusumo (2018) A Distance-Reduction Trajectory Tracking Control Algorithm for a Rear-Steered AGV. Computer Engineering and Applications (ComEngApp) Journal, 7 (2). pp. 81-94. ISSN 2252-4274

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Abstract

This paper presents a Lyapunov-based switched trajectory tracking control design for a rear-steered automated guided AGV (AGV). Given a moving reference whose position and orientation have to be tracked by the AGV, the main objective of the controller is to reduce AGV’s distance from the reference while adjusting its orientation. The distance reduction issue is important, especially in huge warehouses operating a group of AGVs, since the rate of AGV-to-reference distance reduction contributes to the possibility of AGV-to-AGV collision. A set of control algorithms is proposed to handle large AGV’s orientation. Simulations that show the performance of the proposed method is presented

Item Type: Article
Uncontrolled Keywords: Tracking control, automated guided AGV, distance reduction, collision avoidance.
Subjects: Teknik Industri > Sistem Kerja
Divisions: Fakultas Teknologi Industri > Teknik Industri
Depositing User: Editor UAJY
Date Deposited: 07 Jul 2020 08:10
Last Modified: 07 Jul 2020 08:10
URI: http://e-journal.uajy.ac.id/id/eprint/21806

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