Research on a 3 DOF Automated Guided Vehicle based on the improved feedback linearization method

Author

Ye Xiufen ; Wu ZhiWei ; Zhao Fang

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2014

fDate

28-30 July 2014

Firstpage

184

Lastpage

188

Abstract

The common used 2 degree-of-freedom(DOF) Automated Guided Vehicle (AGV) exists insufficient in flexibility and mobility. In this paper, a 3 DOF AGV structure is adopted with two action wheels and four follower wheels. Compared with the existing AGV, it has the merits of better flexibility and mobility. The kinematic model of the AGV is built, and an improved feedback linearization method for trajectory tracking is proposed. Simulation results show feasibility of the AGV, and verify that the improved feedback linearization control method can accurately control the AGV to track various trajectories.

Keywords

automatic guided vehicles; feedback; linearisation techniques; trajectory control; 2 DOF automated guided vehicle; 3 DOF AGV structure; 3 DOF automated guided vehicle; feedback linearization control method; flexibility; kinematic model; mobility; trajectory tracking; Educational institutions; Equations; Mathematical model; Mobile robots; Stability analysis; Trajectory; Wheels; AGV; feedback linearization; kinetic model; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896619

Filename

6896619