Dynamic analysis of AGV control under dead-reckoning algorithm

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

Autores

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

Revista

Título: Robotica

Vol. 26 Nº 5

Páginas: 635-641

ISSN: 0263-5747

Editora: Cambridge University Press

Indexação

ISI Web of Science

Scopus

COMPENDEX

INSPEC

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

CORDIS: Ciências Tecnológicas > Engenharia > Engenharia de controlo > Robótica

Outras Informações

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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica