Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/144439
Title: MPC-based unified trajectory planning and tracking control approach for Automated Guided Vehicles∗
Authors: Li, Juncheng
Ran, Maopeng
Wang, Han
Xie, Lihua
Keywords: Engineering::Computer science and engineering
Issue Date: 2019
Source: Li, J., Ran, M., Wang, H., & Xie, L. (2019). MPC-based unified trajectory planning and tracking control approach for Automated Guided Vehicles∗, Proceedings of the 2019 IEEE 15th International Conference on Control and Automation (ICCA), 374-380. doi:10.1109/ICCA.2019.8899955
Project: SMA-RP3
Abstract: Autonomous navigation of Automated Guided Vehicles (AGVs) in manufacturing environment is an important part of industrial automation. This paper presents an MPC-based unified trajectory planning and tracking control approach for AGVs. Based on the model of the AGV, improved path planning and reference velocity planning techniques are developed. Then a model predictive controller is designed to track the generated trajectory. In addition, obstacle avoidance capability is also incorporated in the navigation framework. To evaluate the proposed method, simulations and experiments are conducted. The results show that the AGV can achieve high trajectory tracking accuracy with smooth movement.
URI: https://hdl.handle.net/10356/144439
ISBN: 9781728111643
DOI: 10.1109/ICCA.2019.8899955
Rights: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work is available at: https://doi.org/10.1109/ICCA.2019.8899955
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Conference Papers

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