AGV Trajectory Control Based on Laser Sensor Navigation

Thanh Luan Bui,Sang Bong Kim,Soon Sil Park,Phuc Thinh Doan,Hak Kyeong Kim

doi:10.12777/ijse.4.1.16-20

Thanh Luan Bui, Sang Bong Kim + Show 3 more

Open Access

https://doi.org/10.12777/ijse.4.1.16-20

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Abstract

Autonomous Guided Vehicle Systems (AGVs) are used to transport goods and products in manufacturing fields where navigation can be done in a structured environment. In order to track the given trajectory, a tracking control based on Lyapunov stability theory is introduced. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. To apply Lyapunov's theorem, the kinematic model of AGV is given. To recognize its position in indoor environment, in this paper, a laser sensor device NAV200 is used to detect the AGV position in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results. [AGV Trajectory Control, Laser Sensor Navigation]

Highlights

Automated Guided Vehicle (AGV) is a transportation vehicle automatically traveling on a predefined route
The origin point e = 0 in error dynamics is stable at equilibrium point if there exist V (e) that V&(e) is negative semidefinite over all the trajectory
Where controller gains are k1 > 0 and k3 > 0 When the AGV is in parallel with the reference line trajectory, e1 = e3 = 0 and e2 1 0

Summary

INTRODUCTION

Automated Guided Vehicle (AGV) is a transportation vehicle automatically traveling on a predefined route. Malik Arjuna et al [7] and Dung et al [8] proposed an adaptive sliding mode control technique for two-wheeled welding for mobile robot Their systems have not yet applied to heavy industrial vehicles. This paper is about control of an industrial AGV for tracking a reference trajectory using laser sensor NAV200. The NAV200 system is a laser-based positioning that returns an absolute position of the scanner with respect to a user-defined local coordinate frame On average, this system can provide up to millimeter accuracy with an update rate up to 8 Hz. The prototype of the experimental AGV is shown in Fig.[2]. By calculating the time derivative of Eq (4), the AGV angular velocity is obtained as follows: Fig.[2] Prototype of the experimental AGV wr (t). To reduce error in the driving direction e1 , the reference linear velocity of the AGV should be changed correspondingly.

STABILITY ANALYSIS

SIMULATION AND EXPERIMENTAL RESULTS

CONCLUSIONS