Modeling and Control System Design of Four Wheel Independent Steering Automatic Guided Vehicle (AGV)

Abstract

This paper proposes a modeling and a control system design of Four Wheel Independent Steering Automatic Guided Vehicle (4WIS-AGV) based on optimal control method. Because of narrow working space in warehouse, 4WIS-AGV which each wheel of the vehicle is driven by a driving motor and a steering motor is developed due to its high maneuverability and flexibility. The single track vehicle model is used as the model of 4WIS-AGV. The single track vehicle model is obtained by reducing an ordinary four wheel vehicle model to two wheel vehicle model with the wheels in the centerline of the vehicle. The optimal controller is proposed to make the 4WIS-AGV able to follow the desired vehicle sideslip angle and yaw rate. The proposed model and control system are verified by simulation that shows their effectiveness in controlling the 4WIS-AGV.