Dynamic analysis of AGV control under dead-reckoning algorithm

• Type: Article in International Scientific Journal
• Date: 2008

Authors

Azenha, A (Author) Other; Adriano Carvalho (Author) FEUP

Journal

Title: Robotica

Vol. 26

Pages: 635-641

ISSN: 0263-5747

Publisher: Cambridge University Press

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 6 Citations

Other information

Authenticus ID: P-003-WV9

DOI: 10.1017/s0263574708004244

Abstract (EN): In this paper, dead-reckoning localization errors for automated, mated guided vehicles (AGVs) in indoors quasi-structured environments are studied. Based on error ellipse localization analysis, dead-reckoning errors arising from mismatched AGV wheels radius are investigated. The dynamic model for a differential-drive AGV type with mismatched wheels radius is also derived. The developed rationale shows that sensor fusion is a key feature for minimizing AGV localization errors. Two simulation scenarios and one experiment are presented to show system performance under AGV proportional-derivative (PD)-type control.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7