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All Journal ComEngApp : Computer Engineering and Applications Journal Jurnal Buana Informatika Jurnal Ilmiah Teknik Industri Jurnal Rekayasa Mesin Journal of Industrial Engineering SENAPAS
Anugrah Kusumo Pamosoaji
Universitas Atma Jaya Yogyakarta
Humanities Computer Science & IT Economics, Econometrics & Finance Education Engineering Environmental Science Industrial & Manufacturing Engineering Mechanical Engineering Social Sciences Other

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Journal : comengapp computer engineering and applications journal

 1 
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.
A Vector Potential Function-Based Collision Avoidance Control for Differential-Steered Robots Anugrah K Pamosoaji
Computer Engineering and Applications Journal Vol 7 No 3 (2018)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (497.323 KB) | DOI: 10.18495/comengapp.v7i3.265

Abstract

A collision avoidance control that tracks a vector potential field-based velocity plan of a differential-steered robot is designed. Vector potential function (VPF) is a type of potential function used for motion planning. The plan resulted by the VPF is the desired velocity vector of the robot on all points in collision-free space. The problem to address in this paper is velocity tracking control in the environment of a circular obstacle. A controller is designed to track the VPF-based velocity plan. A concept of collision cone will be used to evaluate the ability of the controller to avoid collision between the robot and the obstacle. The stability of the controller is verified by using the Lyapunov stability analysis. Simulations of the controller’s performance are presented.
Co-Authors Abdulloh Badruzzaman Albertus Yustinus Novi Misgi Prabowo Adi Adi Baju Bawono Bayu Megaprastio Dewa, Parama Kartika Djoko Budiyanto Setyohadi Fadmi Rina Heriyanto Susilo Innocent Mapindu Irwan Novianto Laksana, Feri Febria Laksito Purnomo Lenny Halim Malik Khidir Mochamad Syamsiro Nicholas Tayisepi Nugroho Mamayu Hayuning Bawono Nur Azmi Ainur Bashir Paulus Wisnu Anggoro Rico Setiono Bayu Saputra Savior Munotyaani Septian Rico Hernawan Zulkhairi