Dynamic analysis of AGV control under dead-reckoning algorithm

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

Authors

Abílio Azenha (Author) FEUP; Adriano Carvalho (Author) FEUP

Journal

Title: Robotica

Vol. 26 No. 5

Pages: 635-641

ISSN: 0263-5747

Publisher: Cambridge University Press

Indexing

ISI Web of Science

Scopus

COMPENDEX

INSPEC

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

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

Other information

DOI: http://dx.doi.org/10.1017/S0263574708004244

Abstract (EN): In this paper, dead-reckoning localization errors for automated 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