Energy-efficient Tracking Control for Automatic Guided Vehicle

被引：1

作者：

Yin, Xiaohong ^{[1
]}

Zhao, Han ^{[2
]}

Yang, Can ^{[1
]}

机构：

[1] Zhejiang Normal Univ, Coll Engn, Jinhua 321004, Zhejiang, Peoples R China

[2] Hefei Univ Technol, Sch Mech & Automat Engn, Hefei 230009, Peoples R China

来源：

APPLIED MECHANICS AND MECHANICAL ENGINEERING II, PTS 1 AND 2 | 2012年 / 138-139卷

关键词：

Trajectory tracking; Energy efficiency; Optimization; AGV;

D O I：

10.4028/www.scientific.net/AMM.138-139.299

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

As one kind of mobile robots, the automatic guided vehicle (AGV) has been used in more and more applications. Meanwhile, some challenges in this field still exist, which limits the AGV's further application. One of the greatest challenges is the energy conservation due to AGV's limited energy-storage capability. Besides, the AGV tracking issue has not been well addressed yet though being studied for over two decades. This work presents an optimal velocity scheme for AGV energy-efficient tracking control, with consideration of both trajectory tracking and energy conservation involved in a nonlinear optimization problem. The proposed controller possesses the easiness for design and universality for kinematics modeling of other wheeled mobile robots. In addition, the controller's stability and convergence were proved using Lyapunov theory. Finally, the computer simulation results demonstrated the effectiveness of the proposed controller.

引用

页码：299 / +

页数：2