A PATH FOLLOWING CONTROL OF AN UNMANNED AUTONOMOUS INDUSTRIAL FORKLIFT1

摘要：

In this paper, the development of an unmanned autonomous forklift is discussed. A control architecture using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematic of spin-turn mechanism is analyzed first, and then the obtained kinematic equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry is derived. The effectiveness of the proposed control law is examined through simulation.

关键词： unmanned forklift kinematic path variables chained form feedback control

作者: Tua Agustinus Tamba Keum-Shik Hong

作者单位: School of Mechanical Engineering,Pusan National UniversitySan 30 Jangjeon-dong,Geumjeong-gu,Busan 60 School of Mechanical Engineering,Pusan National University San 30 Jangjeon-dong,Geumjeong-gu,Busan 6

会议类型: 国际会议

会议名称: 2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-18（万方平台首次上网日期，不代表论文的发表时间）