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All Journal ComEngApp : Computer Engineering and Applications Journal
Anugrah K Pamosoaji
Faculty of Industrial Technology, Universitas Atma Jaya Yogyakarta, Indonesia
Computer Science & IT Engineering

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A Distance-Reduction Trajectory Tracking Control Algorithm for a Rear-Steered AGV Anugrah K Pamosoaji
Computer Engineering and Applications Journal Vol 7 No 2 (2018)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (709.76 KB) | DOI: 10.18495/comengapp.v7i2.251

Abstract

This paper presents a Lyapunov-based switched trajectory tracking control design for a rear-steered automated guided AGV (AGV). Given a moving reference whose position and orientation have to be tracked by the AGV, the main objective of the controller is to reduce AGV’s distance from the reference while adjusting its orientation. The distance reduction issue is important, especially in huge warehouses operating a group of AGVs, since the rate of AGV-to-reference distance reduction contributes to the possibility of AGV-to-AGV collision. A set of control algorithms is proposed to handle large AGV’s orientation. Simulations that show the performance of the proposed method is presented.
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