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A predictor-corrector guidance control scheme for AGV navigation

A predictor-corrector guidance control scheme for AGV navigation This paper presents a scheme that employs feedforward control in conjunction with a predictor-corrector scheme for guidance control of Automated Guided Vehicles (AGVs). The predictor-corrector scheme provides the desired values of steering parameters which depend on the geometry of the track and a driving criterion. The geometry of the track/road ahead of the vehicle is obtained by extrapolating the identified (estimated) geometry of the track/road traversed during the elapsed time interval. This real-time identification is carried out by fitting a curve to the path traversed by the vehicle. The coordinates of the path are provided by a transformation formulation which makes use of the motion parameters and a kinematic model of the vehicle. The driving criterion specifies the positioning of the AGV on the track. Several possible criteria are identified in the paper and mathematical formulations are presented for one such criterion. Results of off-line calculations using simulated track profiles and experimental data obtained using a prototype AGV while following various track profiles are provided for illustration. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

A predictor-corrector guidance control scheme for AGV navigation

Autonomous Robots , Volume 3 (4) – Jul 29, 2004

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References (42)

Publisher
Springer Journals
Copyright
Copyright
Subject
Engineering; Robotics and Automation; Artificial Intelligence; Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/BF00240649
Publisher site
See Article on Publisher Site

Abstract

This paper presents a scheme that employs feedforward control in conjunction with a predictor-corrector scheme for guidance control of Automated Guided Vehicles (AGVs). The predictor-corrector scheme provides the desired values of steering parameters which depend on the geometry of the track and a driving criterion. The geometry of the track/road ahead of the vehicle is obtained by extrapolating the identified (estimated) geometry of the track/road traversed during the elapsed time interval. This real-time identification is carried out by fitting a curve to the path traversed by the vehicle. The coordinates of the path are provided by a transformation formulation which makes use of the motion parameters and a kinematic model of the vehicle. The driving criterion specifies the positioning of the AGV on the track. Several possible criteria are identified in the paper and mathematical formulations are presented for one such criterion. Results of off-line calculations using simulated track profiles and experimental data obtained using a prototype AGV while following various track profiles are provided for illustration.

Journal

Autonomous RobotsSpringer Journals

Published: Jul 29, 2004

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