Abstract
The hunting reduction and increase of stability during high-speed travel are two major considerations in improving the traveling characteristics of unmanned delivery carts (AGV : automated guided vehicle), an important component of modern factory automation systems. An AGV has been developed for the study of traveling behavior, particularly the behavior related to inertial force and the cornering force on wheels. A scheme for control of the AGV's steering system has been used to examine the limiting speed for stable traveling and control system stability. For an AGV to travel in a straight line at a high speed, it requires highly accurate detectors, a highly responsive steering system and optimal steering gain. In experiments using a new AGV with the above control scheme, the AGV traveled smoothly at 60 m/min with a hunting amplitude as low as ± 16 mm and a hunting period of less than 3 seconds. This hunting amplitude is less than the width of the guiding tape. The new AGV became unstable near 96 m/min.
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Schedule a callMore From: JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
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