Title: Integrated design of an AGV for improved GPS-based path-following performance

Authors: Mathieu Joerger, John Christ, Richard Duncan, Boris Pervan

Addresses: Mechanical, Materials and Aerospace Engineering Department, Illinois Institute of Technology, 10W 32nd Street, Chicago, IL 60616, USA. ' Mechanical, Materials and Aerospace Engineering Department, Illinois Institute of Technology, 10W 32nd Street, Chicago, IL 60616, USA. ' Mechanical, Materials and Aerospace Engineering Department, Illinois Institute of Technology, 10W 32nd Street, Chicago, IL 60616, USA. ' Mechanical, Materials and Aerospace Engineering Department, Illinois Institute of Technology, 10W 32nd Street, Chicago, IL 60616, USA

Abstract: This paper describes the design, simulation and testing of an automated ground vehicle intended to perform trajectory-tracking operations using GPS as primary sensor. Its development results from the integrated design of the vehicle with its navigation, guidance and control system. This integrated design process is oriented toward directly maximising the trajectory-tracking performance, rather than individually optimising secondary mechanical performance characteristics, as in more traditional methods. Detailed covariance analyses and closed-loop simulations are carried out to evaluate the ultimate dynamic performance and to quantify the impact of each vehicle parameter. In particular, the performance sensitivity is analysed with respect to parameters for which no obvious selection criteria exists, such as the vehicle|s sense of motion or the positioning sensor location, which prove to be decisive characteristics. Experimental testing on a prototype rover confirms the simulations| results and validates the selection of the vehicle design parameters.

Keywords: automated guided vehicles; AGVs; AGV control; GPS; global positioning system; integrated design; vehicle navigation; ground vehicles; vehicle design; vehicle control; simulation; testing; vehicle guidance; trajectory tracking; rover; path following; positioning sensor location; vehicle motion.

DOI: 10.1504/IJVD.2006.010433

International Journal of Vehicle Design, 2006 Vol.42 No.3/4, pp.263 - 286

Available online: 21 Jul 2006

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