Research on a DOF Automated Guided Vehicle Based on the Improved Feedback Linearization Method

摘要：

　　The common used 2 degree-of-freedom(DOF) Automated Guided Vehicle (AGV) exists insufficient in flexibility and mobility.Inthis paper,a 3 DOF AGV structure is adopted with two action wheels and four follower wheels.Compared with the existing AGV,it has the merits of better flexibility and mobility.The kinematic model of the AGV is built,and an improved feedback linearization method for trajectory tracking is proposed.Simulation results show feasibility of the AGV,and verify that the improved feedback linearization control method can accurately control the AGV to track various trajectories.

关键词： AGV kinetic model feedback linearization trajectory tracking

作者: YE XiuFen WU ZhiWei ZHAO Fang

作者单位: Harbin Engineering University,College of Automation,Harbin 150001

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 184-188

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）