Control System for Unmanned Transport Electric Vehicles Based on Microwave Doppler Sensors

Control of pilotless electric vehicles indoors was studied. The issue of ensuring precise correspondence of control signals to the actual motion of transport vehicles in a room was examined. During the course of analyzing the dynamic model of the electric vehicle, it was discovered that the primary reasons for the occurrence of errors consists in the indirect nature of measuring the velocity of this vehicle by means of odometers. In order to solve this problem, it is proposed to use microwave Doppler sensors of the linear velocity of the wheels, observations of which do not depend on sliding, the mass of the electric vehicle, the voltage in the buses, and other parameters. Formulas were developed that make it possible, using the Doppler frequencies of sensors, to determine the current velocity and heading angle of electric vehicle control with the use of the Ackermann condition. Based on the specified formulas, a stable system for traffic control of pilotless transport electric vehicles on a specified route was developed. The proposed system can be used in the robotic transport systems.