Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Path-tracking of free-ranging AGV using encorders and gyroscope

엔코더와 자이로스코프를 사용한 무궤도 AGV의 위치 제어

  • Choi, Kwang-Sup (Dept. of Control and Instrumentation Eng., CBITRC. Chungbuk National University) ;
  • Park, Tae-Hyoung (Dept. of Control and Instrumentation Eng., CBITRC. Chungbuk National University)
  • 최광섭 (충북대학교 제어계측공학과 및 충북BIT연구중심대학육성사업단) ;
  • 박태형 (충북대학교 제어계측공학과 및 충북BIT연구중심대학육성사업단)
  • Published : 2007.10.26
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Abstract

This paper is to develop the path-tracking of free-ranging AGV(Autonomous Guided Vehicle). Encorders are used to trace the location of the AGV. A gyroscope is used to complement encorders that have the error accumulation problem by increasing the distance covered. A sensor fusion technique is applied to correct the error. The path of the AGV is controlled by kinematics and PID which is obtained the data from the sensor fusion. Experimental results are presented to verify the efficiency of proposed method.

Keywords