Path tracking of Automated Guided Vehicle

Author

Gupta, Neeraj ; Singhal, Achintya ; Rai, J.K. ; Kumar, Ravindra

Author_Institution

Amity Sch. of Eng. & Technol., Amity Univ., Noida, India

fYear

2014

fDate

7-9 Aug. 2014

Firstpage

260

Lastpage

264

Abstract

In this paper, a systematic method for kinematics and dynamic tricycle modelling of AGV is presented to track the desired trajectory. The localization of AGV is done by a laser sensor NAV200 which is used to detect the AGV position in dour environment in real time. The AGV consists of 2 passive wheels at rear and 1 driving wheel at front. The navigation system for tricycle AGV is based on front wheel, i.e., the movement of AGV is controlled by front wheel. In order to move the AGV, kinematic model used here is a constant velocity model for linear motion and pure pursuit algorithm is used so that AGV follows the desired trajectory. The experimental result shows that AGV successfully tracks the predefined path in real environment.

Keywords

automatic guided vehicles; path planning; robot dynamics; robot kinematics; trajectory control; wheels; AGV; automated guided vehicle; constant velocity model; driving wheel; dynamic tricycle modelling; front wheel; kinematics model; laser sensor NAV200; linear motion; navigation system; passive wheel; path tracking; position detection; pure pursuit algorithm; Kinematics; Mobile robots; Navigation; Tracking; Vehicles; Wheels; AGV; NAV200; pure pursuit; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Contemporary Computing (IC3), 2014 Seventh International Conference on

Conference_Location

Noida

Print_ISBN

978-1-4799-5172-7

Type

conf

DOI

10.1109/IC3.2014.6897183

Filename

6897183