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agv control

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Dynamic analysis of AGV control under dead-reckoning algorithm
Abílio Azenha, Adriano Carvalho
Journal:

Robotica / Volume 26 / Issue 5 / September 2008

Published online by Cambridge University Press:

01 September 2008, pp. 635-641
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In this paper, dead-reckoning localization errors for automated guided vehicles (AGVs) in indoors quasi-structured environments are studied. Based on error ellipse localization analysis, dead-reckoning errors arising from mismatched AGV wheels radius are investigated. The dynamic model for a differential-drive AGV type with mismatched wheels radius is also derived. The developed rationale shows that sensor fusion is a key feature for minimizing AGV localization errors. Two simulation scenarios and one experiment are presented to show system performance under AGV proportional-derivative (PD)-type control.