Controlling and modeling of an automated guided vehicle

Author

Antal, Daniel ; Szabó, Tamás

Author_Institution

Robert Bosch Dept. of Mechatron., Univ. of Miskolc, Miskolc, Hungary

fYear

2012

fDate

28-31 May 2012

Firstpage

1

Lastpage

6

Abstract

In this paper the designing aspects of a path controlled three wheeler vehicle is discussed. Two of the three wheels are driven independently by DC motors. Incremental encoders are used to give feedbacks. The position of the vehicle is calculated by kinematical model assuming ideal rolling of the driven wheels. PWM signals are used to drive the motors with a given angular velocity. The separate driving electronic is controlled via I²C protocol. A comparison is made between the real and the calculated positions of the vehicle.

Keywords

DC motors; angular velocity control; automatic guided vehicles; design engineering; mobile robots; position control; robot kinematics; vehicle dynamics; wheels; DC motors; I²C protocol; PWM signals; angular velocity; automated guided vehicle; design aspect; incremental encoders; kinematical model; path controlled three wheeler vehicle; separate driving electronic; vehicle position calculation; Accuracy; DC motors; Measurement uncertainty; Optical variables measurement; Sensors; Vehicles; Wheels; automated guided vehicle; path control;

fLanguage

English

Publisher

ieee

Conference_Titel

Carpathian Control Conference (ICCC), 2012 13th International

Conference_Location

High Tatras

Print_ISBN

978-1-4577-1867-0

Type

conf

DOI

10.1109/CarpathianCC.2012.6228606

Filename

6228606