AGV Positioning in Quasi-Structured Environments

• Type: Article in International Conference Proceedings Book
• Date: 2005

Authors

Abílio Azenha (Author) FEUP; Gustavo Fernandes (Author) Other; Adriano Carvalho (Author) FEUP

Conference proceedings International

Title: MMAR 2005

Pages: 543-548

MMAR 2005 – Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics

Miedzyzdroje, Poland, 29 August- 1 September 2005

Scientific classification

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Abstract (EN): This paper presents a proportional-derivative (PD)-type tracking controller for automated guided vehicles (AGVs) positioning. The AGVs considered in this paper are placed in an indoors quasi-structured environment and locating the AGVs is needed for their control and path planning requirements. The path planning and trajectory generation are made offline, because of the quasi-structured environment condition. Because the environments considered in this paper are of indoors characteristics, the global positioning system (GPS) is not appropriate to measure the AGVs absolute position as GPS does not work indoors. By means of the AGV communications sub-system, their localization is carried out with odometry and signal strength measurements (triangulation). Under the AGV location availability to the control system, the PD-type control is made possible. The PD-type controller was chosen because it is adequate to maintain a good system stability and low tracking error over all the AGVs workspace and it is easier to tune than PID-type controllers. Some simulation results are shown which demonstrate the PD-type controller performs well under acceptable tracking errors and with negligible parking errors. The triangulation principle is also evaluated with an experimental result.

Language: Portuguese

Type (Professor's evaluation): Scientific