MPC-based Unified Trajectory Planning and Tracking Control Approach for Automated Guided Vehicles

被引：0
|
作者：
Li, Juncheng [1 ]
Ran, Maopeng [1 ]
Wang, Han [1 ]
Xie, Lihua [1 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore
来源：
2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2019年
基金：
新加坡国家研究基金会;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Autonomous navigation of Automated Guided Vehicles (AGVs) in manufacturing environment is an important part of industrial automation. This paper presents an MPC-based unified trajectory planning and tracking control approach for AGVs. Based on the model of the AGV, improved path planning and reference velocity planning techniques are developed. Then a model predictive controller is designed to track the generated trajectory. In addition, obstacle avoidance capability is also incorporated in the navigation framework. To evaluate the proposed method, simulations and experiments are conducted. The results show that the AGV can achieve high trajectory tracking accuracy with smooth movement.
引用
收藏
页码：374 / 380
页数：7
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