The primary target of this study is to analyze the efficiency of optimal control policies for an Automatically Guided Vehicle (AGV) setting. As AGV's find more and more place on a state-of-the-art factory floor a variety of nonobstructive communication means with them will be sought. 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 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 kinematics problems are solved for an AGV with redundancies. A number of optimality criteria are introduced to emphasize preference on these redundancies. A comparative study to classify the efficiency of each one of these criteria is presented. The way in which the optimum path changes as the weighting factors of the objective function varies is a point of study covered in the report.
Optimal trajectory control of a robotic vehicle
Optimale Trajektorienregelung fuer ein automatisch gefuehrtes Fahrzeug
1987
5 Seiten, 6 Bilder, 1 Tabelle, 6 Quellen
Conference paper
English
Optimal Trajectory Control Of A Robotic Vehicle
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