Path Tracking of Automated Guided Vehicle

被引：0

作者：

Gupta, Neerja ^{[1
]}

Singhal, Abhishek ^{[1
]}

Rai, J. K. ^{[1
]}

Kumar, Rohit ^{[2
]}

机构：

[1] Amity Univ, Amity Sch Engn & Technol, Sect 125, Noida, Uttar Pradesh, India

[2] Hi Tech Robot Syst Ltd, Sect 33 34, Gurgaon, India

来源：

2014 SEVENTH INTERNATIONAL CONFERENCE ON CONTEMPORARY COMPUTING (IC3) | 2014年

关键词：

AGV; NAV200; pure pursuit; trajectory tracking;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper, a systematic method for kinematics and dynamic tricycle modelling of AGV is presented to track the desired trajectory. The localization of AGV is done by a laser sensor NAV200 which is used to detect the AGV position in dour environment in real time. The AGV consists of 2 passive wheels at rear and 1 driving wheel at front. The navigation system for tricycle AGV is based on front wheel, i.e., the movement of AGV is controlled by front wheel. In order to move the AGV, kinematic model used here is a constant velocity model for linear motion and pure pursuit algorithm is used so that AGV follows the desired trajectory. The experimental result shows that AGV successfully tracks the predefined path in real environment.

引用

页码：260 / 264

页数：5

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