Development of a Control Strategy for Accurate Path Tracking of Intelligent Vehicles University of Detroit Mercy

Format:

Book

Conference/Event

Author/Creator:

Mehrabi, Mehrabi, author.

Conference Name:

WCX SAE World Congress Experience (2019-04-09 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2019

Summary:

This paper reports on development of a sub-optimal control strategy for path tracking control of automated guided vehicles (AGV's) and wheeled mobile robots. A two degree of freedom (DOF) nonlinear dynamic model is developed to represent their plane motion. Path tracking of the AGV is attained by controlling the position and orientation errors about the trajectory, which is accomplished by controlling the steering input signal on the basis of error feedbacks to the controller. Experimental results demonstrating the performance of the controlled system are reported

Notes:

Vendor supplied data

Publisher Number:

2019-01-0677

Access Restriction:

Restricted for use by site license