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.


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    Title :

    Tracking control of automated guided vehicles


    Additional title:

    Folgeregelung von automatisch gesteuerten Fahrzeugen


    Contributors:


    Publication date :

    2007


    Size :

    8 Seiten, 2 Bilder, 19 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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