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