DocumentCode
1610872
Title
Holonomic Automated Guided Vehicle control based on adaptive inverse dynamics Control
Author
Hidaka, Koichi
Author_Institution
Dept. of Electr. & Electron. Eng., Tokyo Denki Univ., Tokyo
fYear
2008
Firstpage
2715
Lastpage
2718
Abstract
In this paper, we will propose a path control of Automated Guided Vehicle (AGV). This AGV can move for all directions by using steered type wheels. Furthermore we propose an adaptive path control for a holonomic and omnidirectional AGV under the assumption that we can not decide the parameters in designing the control system. Finally we show the validity of proposed method by numerical simulations in this presentation.
Keywords
adaptive control; control system synthesis; mobile robots; path planning; position control; robot dynamics; vehicle dynamics; adaptive inverse dynamics control; adaptive path control; holonomic AGV; holonomic automated guided vehicle control; omnidirectional AGV; steered type wheels; Adaptive control; Automatic control; Control systems; Gravity; Mobile robots; Numerical simulation; Production facilities; Programmable control; Vehicle dynamics; Wheels; Adaptive control; Mass change; Omnidirectional and Holonomic AGV; Path control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location
Seoul
Print_ISBN
978-89-950038-9-3
Electronic_ISBN
978-89-93215-01-4
Type
conf
DOI
10.1109/ICCAS.2008.4694218
Filename
4694218
Link To Document