Computationally Efficient Tracking Control of Differential Drive Wheeled Mobile Robots

Zhang, Boyang; Gavin, Henri P.

doi:10.23919/acc55779.2023.10156242

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2024

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Cited by 2 publications

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Development of an Intelligent Fuzzy Logic Control Based on a Differential Drive Wheeled Mobile Robot

Arumugam,

Alagumalai,

Srinivasan

2024

2024 International Conference on Power, Energy, Control and Transmission Systems (ICPECTS)

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Development of an Intelligent Fuzzy Logic Control Based on a Differential Drive Wheeled Mobile Robot

Arumugam,

Alagumalai,

Srinivasan

2024

2024 International Conference on Power, Energy, Control and Transmission Systems (ICPECTS)

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Optimized Dimensioning and Encoder Configuration for AGV Traction Systems

Alexandru,

Mihai

2024

Acta Universitatis Cibiniensis. Technical Series

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This study focuses on the meticulous design and dimensioning of the drive system and encoder setup for an Automated Guided Vehicle (AGV) intended for industrial material handling and transportation. The chosen drive system employs a differential traction mechanism, integrated with two brushless hub motors, which offers a balance of high efficiency, low maintenance, and exceptional durability. These motors are specifically selected to meet stringent requirements related to payload, terrain adaptability, torque, and speed. The dimensioning process accounts for factors such as rolling friction, incline resistance, and operational speeds, ensuring optimal motor performance under varying conditions. Calculations for torque, power, and speed requirements are presented in detail, highlighting the precision involved in selecting motor specifications that align with the platform's operational goals. To enhance navigational accuracy, a dead wheel encoder system is incorporated, addressing the inherent limitations of wheel slippage in odometry measurements. The study elaborates on the encoder selection process, emphasizing the importance of resolution and configuration to meet the desired stopping precision. A comparison between built-in motor encoders and external dead wheel encoders illustrates the improvements achieved in positional accuracy. The paper concludes with insights into the decision-making process for component selection, supported by comprehensive calculations and design considerations. The resulting AGV drive system not only meets the technical demands of industrial environments but also demonstrates scalability and cost-effectiveness, offering a robust foundation for future advancements in autonomous material handling technologies.

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Computationally Efficient Tracking Control of Differential Drive Wheeled Mobile Robots

Cited by 2 publications

References 13 publications

Development of an Intelligent Fuzzy Logic Control Based on a Differential Drive Wheeled Mobile Robot

Development of an Intelligent Fuzzy Logic Control Based on a Differential Drive Wheeled Mobile Robot

Optimized Dimensioning and Encoder Configuration for AGV Traction Systems

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