The primary target of this study is to analyze the efficiency of optimal control policies for an AGV (Automatically Guided Vehicle) setting. As AGV's assume more of the work load on a state-of-the-art factory floor, a variety of nonobstructive communication means with them will be needed to issue complex guidance commands. One of these means, an optical link is taken into account in this work. A line array of lights is planned to deliver coded control commands to the AGV during its operation on the shop floor. The objective is to position the robotic vehicle properly in order to recover the coded information from the light sources. The direct and inverse kinematics problems are solved first. Because of redundancy control, a number of optimality criteria are introduced to emphasize preference. A comparative study to classify the efficiency of each one of these criteria is presented. Multiple parameters governing the motion are chosen toward an optimum trajectory. The way in which the optimum path changes as the weighting factors of the objective function varies is another point of study covered in this report.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Optimal Trajectory Control Of A Robotic Vehicle


    Contributors:

    Conference:

    Mobile Robots I ; 1986 ; Cambridge,MA,United States


    Published in:

    Publication date :

    1987-02-25





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Optimal trajectory control of a robotic vehicle

    Olgac, N. / Wood, M. | Tema Archive | 1987


    Ornithopter optimal trajectory control

    Dietl, John M. | Online Contents | 2013


    ROBOTIC VEHICLE CONTROL

    DUNCAN WILLIAM DAVID / HYDE RODERICK A | European Patent Office | 2016

    Free access

    ROBOTIC VEHICLE CONTROL

    DUNCAN WILLIAM D / HYDE RODERICK A | European Patent Office | 2018

    Free access

    VEHICLE TRAJECTORY GENERATION FOR OPTIMAL DRIVING GUIDANCE

    Li, L. / Wang, F.-Y. / IEEE | British Library Conference Proceedings | 2002