Dynamic analysis of AGV control under dead-reckoning algorithm

被引：4
|
作者：
Azenha, Abilio [1 ]
Carvalho, Adriano [1 ]
机构：
[1] Univ Porto, Fac Engn, Inst Syst & Robot, P-4200465 Oporto, Portugal
来源：
ROBOTICA | 2008年 / 26卷
关键词：
AGV control; dead-reckoning; measurement error analysis; localization; simulation;
D O I：
10.1017/S0263574708004244
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, dead-reckoning localization errors for automated, mated guided vehicles (AGVs) in indoors quasi-structured environments are studied. Based on error ellipse localization analysis, dead-reckoning errors arising from mismatched AGV wheels radius are investigated. The dynamic model for a differential-drive AGV type with mismatched wheels radius is also derived. The developed rationale shows that sensor fusion is a key feature for minimizing AGV localization errors. Two simulation scenarios and one experiment are presented to show system performance under AGV proportional-derivative (PD)-type control.
引用
收藏
页码：635 / 641
页数：7
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