Simple adaptive dynamical control of vehicles driven by omnidirectional wheels

Precise control of Automatic Guided Vehicles (AGVs) navigating between the aisles of manufacturing systems by the use of local markers is an important task. On the basis of the geometric model of the workspace and the vehicles and that of the sensor uncertainties precise trajectories were recently generated along which the vehicle safely can move. In order to achieve precise trajectory tracking the effects of the system´s dynamical uncertainties (modeling errors and possible external perturbations) have to be compensated. In the present paper a simple, fixed point transformations based adaptive control is proposed for this purpose. The proposed method is tested via simulation for a vehicle of triangular shape, driven by three omnidirectional wheels. The method is also able to monitor and evade the conditions that may lead to turning over the vehicle.