Title: Estimation and control of Automatic Guided Vehicle

Authors: Anan Suebsomran, Suthep Butdee

Addresses: Faculty of Technical and Education, Department of Teacher Training in Mechanical Engineering, King Mongkut's University of Technology, North Bangkok, 1518 Piboolsongkram Rd. Bangsue, Bangkok, 10800, Thailand. ' Faculty of Engineering, Department of Production Engineering, King Mongkut's University of Technology, North Bangkok, 1518 Piboolsongkram Rd. Bangsue, Bangkok, 10800, Thailand

Abstract: In this paper a control strategy of Automatic Guided Vehicle (AGV) is proposed. The structure of AGV is described. The strategy is based on two main purposes: the path is stored in the PLC memory and the vehicle displacement is calculated form the wheel rotation measurement. The control and localisation systems are developed. Reference path and observation measurement are matched. To keep track of the matching result of both positions, the estimated position information used to update the vehicle|s position by using the Kalman Filtering (KF) algorithm. Test performance is verified with accurate positioning control by simulation and experimentation.

Keywords: AGV control; automated guided vehicles; controlled path; Kalman filter estimator; PID controllers; AGV localisation; positioning control; simulation.

DOI: 10.1504/IJMMS.2009.026053

International Journal of Mechatronics and Manufacturing Systems, 2009 Vol.2 No.3, pp.383 - 397

Available online: 26 May 2009 *

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