Dynamic analysis of AGV control under dead-reckoning algorithm

• Tipo: Artigo em Revista Científica Internacional
• Data: 2008

Autores

Azenha, A (Autor) Outra; Adriano Carvalho (Autor) FEUP

Revista

Título: Robotica

Vol. 26

Páginas: 635-641

ISSN: 0263-5747

Editora: Cambridge University Press

Indexação

ISI Web of Knowledge - 4 Citações

Scopus - 6 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7