MULTI-STEP OPTIMAL PREDICTIVE CONTROL FOR PATH CORRECTION OF THE AGV DRIVEN BY HUB MOTORS

Xiaojun Wu,∗ Yan Li,∗ Huibo Jia,∗ Guangqiang Ma,∗ and Ying Zhang∗

Keywords

Automatic guided vehicle, pose rectification, hub motor, visual servo

Abstract

Because of the interference caused by external factors, omnidirec- tional automated guided vehicles (AGVs) gradually deviate from the desired path during driving. Aiming to solve this problem, we design an omnidirectional AGV driven by hub motors and perform pose correction analysis and experiments on it. By doing a kinematics analysis of the omnidirectional AGV, the relationship between the speed and the angle under different motion states is obtained. The deviation is decomposed into distance deviation and angular devi- ation. To rapidly eliminate the path deviation, we propose a joint control strategy. This joint control strategy combines fuzzy control and multi-step predictive optimal control. In addition, motors are decoupled to improve the control performance. The path-tracking experiments of straight lines and arcs on the vehicle show that the joint control strategy achieves path correction.

Important Links:

Go Back