Experiment Study of Multi-Step Predictive Control in AGV Path Tracking
- Resource Type
- Conference
- Authors
- Shi, Enxiu; Guo, Junjie; He, Changlin; Cai, Tao
- Source
- 2007 IEEE International Conference on Automation and Logistics Automation and Logistics, 2007 IEEE International Conference on. :531-535 Aug, 2007
- Subject
- Robotics and Control Systems
Computing and Processing
Transportation
Signal Processing and Analysis
Predictive control
Tracking
Vehicles
Mobile robots
Production
Prediction algorithms
Algorithm design and analysis
Automatic control
Motion control
Stability
AGV (Automatic Guided Vehicle)
Path Tracking
Plan-path
One-Step Predictive Control
Multi-Step Predictive Control
- Language
- ISSN
- 2161-8151
2161-816X
Automatic Guided Vehicle (AGV) is a kind of Wheeled Mobile Robot (WMR) that is used to convey material and supplies in unmanned production workshop. To finish transporting task for differential driving XAUT.AGV100 with nonholonomic constraints made by ourselves, Multi-Step Predictive Control Algorithm (MSPCA) is designed and used to control AGV to track plan-path to improve the speed of path tracking and the stability of motion. It is verified that MSPCA is feasible and effective through by the theory simulation and the experiment.