Energy-Efficient Path-Following Control System of Automated Guided Vehicles

Abstract

The theoretical bases of optimal tracking systems synthesis are considered. The main purpose of such systems is to keep the error between the actual and desired outputs of the system at a low level with minimal energy consumption. This concept is appealing to the fact that the vast majority of control systems solve problems without regard to the expediency of using the internal energy resources of the system itself. The main task of an automated guided vehicle is to move from one point to another. An algorithm for forming the desired trajectory between two points, specified on the map, was developed. With optimal energy consumption, this approach will make a practical contribution to the field of automation, self-driving cars, etc. The concept of optimal, energy-efficient control has been implemented. Several experiments with different regulators have been carried out to verify the concept of the tracking systems and to convince the significant advantage of the optimality among the other systems.