The kinematic-dynamic model of automated guided vehicles was presented. The tracking control problem takes the nonlinear behavior of the system including side-slip effects. The braking angle combined with the rear torque realize a first feedback leading to a linear behavior of yaw motion and of longitudinal-lateral displacements. Simulation processes result from a clothoid path which is free from slip behavior. The obtained results achieve almost exact path tracking under few adjusted controller parameters.
Tracking control of automated guided vehicles
Folgeregelung von automatisch gesteuerten Fahrzeugen
Robot Motion and Control 2007, RoMoCo, International Workshop on Robot Motion and Control, 6 ; 49-56
2007
8 Seiten, 2 Bilder, 19 Quellen
Aufsatz (Konferenz)
Englisch
Wiley | 1985
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