Automated Guided Vehicles (AGVs) are widely used in production lines and warehouses to supply parts and goods. The need to replace AGVs with Autonomous Mobile Robots (AMRs) has been raised, as AMRs can be used as autonomous vehicles without fixed routes. However, when an AMR is carrying a heavy load and the load is not well distributed on the robot's transport platform, the uncertainty of the control system increases, leading to path-tracking errors. In this situation, the source of uncertainty is Ground-Wheel Interaction Forces (GWIF) and the variation of the robot's Center Of Mass (COM), which significantly affects the dynamic model. In this study, we derive and control the dynamic model of an AMR with a differential drive wheel while carrying an off-center heavy load.
Path Tracking Error Minimization of Differential Drive Wheel Mobile Robot Carrying Off-Center Heavy Load
2025-02-24
1893116 byte
Conference paper
Electronic Resource
English
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