Experiment Study of Multi-Step Predictive Control in AGV Path Tracking

摘要：

Automatic Guided Vehicle (AGV)is a kind of Wheeled Mobile Robot (WMR)that is used to convey material and supplies in unmanned production workshop.To finish transporting task for differential driving XAUT.AGV100 with constraints made by ourselves,Multi-Step Predictive Control Algorithm (MSPCA)is designed and used to control AGV to track plan-path to improve the speed of path tracking and the stability of motion.It is verified that MSPCA is feasible and effective through by the theory simulation and the experiment.

关键词： AGV (Automatic Guided Vehicle) Path Tracking Plan-path One-Step Predictive Control Multi-Step Predictive Control

作者: Enxiu Shi Junjie Guo Enxiu Shi Changlin He Tao Cai

作者单位: State Key Laboratory for Manufacturing System Engineering Xian Jiaotong University Xian, Shaanxi P Institute of Machine and Automation Xian University of Technology Xian, Shaanxi Province, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）