Browse Publications Technical Papers 2020-01-5024
2020-02-24

An Optimal Controller for Trajectory Tracking of Automated Guided Vehicle 2020-01-5024

A trajectory tracking strategy for an Automated Guided Vehicle (AGV) is presented in this paper, containing a hybrid algorithm of a preview feedforward control and a feedback control via linear quadratic regulator (LQR). The purpose of trajectory tracking is to decrease the position and orientation errors between the trajectory and AGV. The vehicle - road dynamics model applied to establish the relationship between vehicle and trajectory and accurately describes plant motion. The preview feedforward control is adopted to solve time delay of steering mechanism in trajectory tracking. The feedback control via LQR is applied to decrease the errors caused by environmental disturbances. For real-time embedded system, the optimal gain is calculated offline and is used by lookup table online, which could reduce the computation time. The results of tests on a practical AGV system demonstrate the effectiveness and accuracy of the strategy presented in this paper.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: With TechSelect, you decide what SAE Technical Papers you need, when you need them, and how much you want to pay.

Due to current capacity constraints, printed versions of our publications - including standards, technical papers, EDGE Reports, scholarly journal articles, books, and paint chips - may experience shipping delays of up to two weeks. We apologize for any inconvenience.
X