An automatically guided vehicle, traveling without fixed guide ways, has been developed. In this paper, the construction of the vehicle, the control algorithm, and its general performance are described. The vehicle measures its own position by using measuring wheels and corrects the accumulated error at some intervals while it travels. Its measurement is so accurate that the required correction interval could be more than 50 m. A sequence of simple commands is used to show the vehicle the way to the destination. A programmed course is composed of some straight and curved lines. According to the command sequence the vehicle leads itself by determining a current command, which represents the currently required movement. Referring to it, a microcomputer always controls its movement to diminish the errors in the speed, in the position, and in the direction generally. Therefore, like some kinds of mobile robots, the vehicle can travel along a programmed course. The experimental results indicate that the vehicle is able to travel a long distance continuously. The movement is smooth and its control is very reliable. These high performances confirmed that the vehicle could be put into practical applications and we are now testing it for transportation of documents in our laboratory.
An automatic guidance system of a self-controlled vehicle
Ein automatisches Fuehrsystem auf einem selbstgesteuerten Fahrzeug
IEEE Transactions on Industrial Electronics ; 34 , 1 ; 5-10
1987
6 Seiten, 10 Bilder, 6 Quellen
Aufsatz (Zeitschrift)
Englisch
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