A METHOD FOR TRAJECTORY TRACKING FOR DIFFERENTIAL DRIVE TYPE OF AUTOMATIC GUIDED VEHICLE

  • Trong Hai Nguyen
  • Hoai Nhan Nguyen
  • Hung Kim Khanh Pham
  • Quoc Phuong Pham
Keywords: Automatic Guided Vehicle, differential drive, simultaneous localization and mapping, trajectory tracking

Abstract

This paper proposes trajectory tracking algorithm for differential drive type of Automatic Guided Vehicle
(AGV) using backstepping control and simultaneous localization and mapping (SLAM). To guarantee the
tracking errors go to zero, backstepping control method is proposed. By choosing appropriate Lyapunov
function based on its kinematic modeling, system stability is guaranteed and a control law can be obtained. For its positioning, simultaneous localization and mapping (SLAM) algorithm is employed. The landmarks are detected using spike algorithm. The AGV position can be estimated using Kalman filter by combining the encoder result and landmark positions. The simulation and experimental results show that the proposed controller successfully tracks the given trajectory.

điểm /   đánh giá
Published
2021-10-20
Issue
Vol. 2 (2021)
Section
Bài viết