Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1999.11c
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- Pages.500-502
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- 1999
A Study on the Path-Tracking of Optically Guided AGV
Optical 센서를 갖는 AGV의 경로추적에 대한 연구
- Ryu, Je-Young (Dept. of Electrical Eng., Inha University) ;
- Han, Zhe-Yong (Dept. of Electrical Eng., Inha University) ;
- Cho, Duk-Young (Dept. of Electrical Eng., Inha University) ;
- Huh, Uk-Youl (Dept. of Electrical Eng., Inha University) ;
- Im, Il-Sun (Dept. of Electron Eng. Inchon Tech. College)
- 류제영 (인하대학교 전기 공학과) ;
- 한철용 (인하대학교 전기 공학과) ;
- 조덕영 (인하대학교 전기 공학과) ;
- 허욱열 (인하대학교 전기 공학과) ;
- 임일선 (인천기능대학 전자과)
- Published : 1999.11.20
Abstract
This thesis deals with study and implementation of a cross-coupling controller which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV in this thesis is differential drive type and has front-side and rear-side optical sensors, which can identify the guiding path. When AGV from the path due to the inevitable error and the deviation must be corrected. It has been shown that compensation only the first term can lead to undesirable oscillatory results and even instability but compensating only the second term leads to a steady state offset error. Cross-coupling control directly minimizes the error by coordinating the motion of the two drive wheels. The cross-coupling controller is analyzed to evaluate its performance. The cross-coupling controller enhances transient performance of the controller is demonstrated by simulation and is compared with that of individual loop controller.
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