Obstacle Avoidance Control for Four Wheels Independent Steering Automatic Guided Vehicles

被引：0

作者：

Pratama, Pandu Sandi ^{[1
]}

Gulalkari, Amruta Vinod ^{[1
]}

Kim, Jin Wook ^{[1
]}

Lee, Chung Hwan ^{[2
]}

Yeu, Tae-Kyeong ^{[3
]}

Hong, Sup ^{[3
]}

Kim, Hak Kyeong ^{[1
]}

Kim, Sang Bong ^{[1
]}

机构：

[1] Pukyong Natl Univ, Dept Mech & Automot Engn, Busan 608739, South Korea

[2] Dongwon Inst Sci & Technol, Dept Shipbldg & Ocean Engn, Yangsan 626740, South Korea

[3] Kriso, Technol Ctr Offshore Plant Ind, Daejon, South Korea

来源：

AETA 2015: RECENT ADVANCES IN ELECTRICAL ENGINEERING AND RELATED SCIENCES | 2016年 / 371卷

关键词：

Automatic guided vehicle (AGV); Fuzzy potential method (FPM); Obstacle avoidance;

D O I：

10.1007/978-3-319-27247-4_51

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper proposes an obstacle avoidance algorithm for translational and rotational motions of four wheels independent steering (4WIS) automatic guided vehicles (AGV) based on fuzzy potential method (FPM) and backstepping control method. Firstly, the system is described and mathematical modeling is introduced. The AGV consists of 4 wheels driving system, laser measurement system, laser navigation system and industrial PC. Secondly, the Fuzzy Potential Field (FPM) is proposed to obtain an optimal path for an AGV. The shape and the size of the vehicle are considered when the FPM generates the optimal path from the current position to the goal position. This method allows the rectangular shape AGV to avoid unknown obstacles safely and efficiently. Backstepping controller is proposed to track the optimal path generated by FPM. Finally, the simulations are conducted to verify the effectiveness of the proposed algorithm. The simulation results show that the proposed algorithm can make the 4WIS-AGV avoid the obstacles in cluttered environment.

引用

页码：603 / 618

页数：16

共 17 条

[1]

Amdouni I., 2013, 2013 5 INT C MOD SIM, P1

[2] THE VECTOR FIELD HISTOGRAM - FAST OBSTACLE AVOIDANCE FOR MOBILE ROBOTS [J].