Path tracking controller design of four wheel independent steering automatic guided vehicle

Setiawan, Yuhanes Dedy; Nguyen, Trong Hai; Pratama, Pandu Sandi; Kim, Hak Kyeong

doi:10.1007/s12555-015-0216-7

Cited by 29 publications

(11 citation statements)

References 6 publications

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“…Establish the kinematic equation of lateral deviation and course deviation of the k+1 poses state, according to Eq. ( 31) and (32), under the constraint of the optimal deviation state equation: The condition for obtaining the minimum value of the objective function formula (35) is:…”

Section: Design Of Multi-step Prediction Optimal Controllermentioning

confidence: 99%

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Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

Yang

2020

IJAME

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This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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Section: Design Of Multi-step Prediction Optimal Controllermentioning

confidence: 99%

“…(45) into Eq. ( 31) and (32) and then iteratively transforming. According to the target of the correction, that is, the value of the lateral deviation and the course deviation close to 0, the value of λ2k and C can be obtained, and then substituted in Eq.…”

Section: Design Of Multi-step Prediction Optimal Controllermentioning

confidence: 99%

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

Yang

2020

IJAME

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“…Lots of scholars have studied the control strategies and conducted experiments for the 4WIS vehicle [1]- [5]. Setiawan et al [1]- [3] focused on the control strategies of The associate editor coordinating the review of this manuscript and approving it for publication was Xiaosong Hu. path tracking and handing stability for the 4WIS vehicle, but they did not study the dynamic switch among multiple steering modes.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Switch Control of Steering Modes for Four Wheel Independent Steering Rescue Vehicle

Liu

Zhou

2019

IEEE Access

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For the sake of realizing dynamic switch among three steering modes for the four wheel independent steering (4WIS) rescue vehicle in the non-stop state, the switch control strategy and the optimized wheel switch trajectory are studied in this paper. Aiming at ensuring the constant turning radius of the 4WIS rescue vehicle in the switch process of steering modes, the steering angle relationships between the driving wheel and driven wheels are derived, and the desired driving wheel angle of the target steering mode is calculated. The B-spline curve is proposed to design the switch trajectory of the driving wheel. Two objectives including minimizing the sudden change of vehicle dynamic parameters and minimizing the energy consumption in the switch process are discussed. A multi-objective genetic algorithm (MOGA) based on non-dominated sorting genetic algorithm II (NSGA-II) is proposed to deal with the optimization problem of the wheel switch trajectory. The numerical simulations based on Matlab/Simulink indicate that the presented algorithm can generate the Pareto optimal solutions and is suitable for the optimization of the wheel switch trajectory. In addition, the proposed switch control strategy of steering modes for the 4WIS rescue vehicle in the non-stop state is validated to be reasonable and effective.INDEX TERMS Four wheel independent steering (4WIS) rescue vehicle, dynamic switch of steering modes, constant turning radius, optimal switch trajectory, multi-objective genetic algorithm (MOGA).

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“…Setiawan et al [12] presented a new type of four-wheel independent steering automatic guided vehicle (4WISAGV) for carrying heavy luggage and proposed a controller for the 4WIS-AGV to track reference trajectories. The results showed that the proposed controller could make the 4WIS-AGV track the trajectory with sharp edges and the circular trajectory very well.…”

Section: Introductionmentioning

confidence: 99%

Path tracking with minimum time of vehicle handling inverse dynamics based on adaptive gauss pseudospectral method

Liu¹,

Liu²

2019

J. meas. eng.

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Vehicle driving safety is the urgent key problem to be solved by an independent automobile development project. And it is also the premise and one of the necessary conditions for active vehicle safety. A new technique for path tracking with minimum time of vehicle handling inverse dynamics is proposed in this paper. Based on a new optimal control method-Adaptive Gauss Pseudospectral Method (AGPM), the optimal control for path tracking with minimum time problem was converted into a nonlinear programming problem which met the boundary condition and a series of path constraints including path constraint, state constraint, control constraint. And then the problem was solved using the sequential quadratic programming (SQP). The simulation results showed that the proposed method was not sensitive to the initial value and the optimization efficiency was higher compared with indirect methods and traditional direct methods. When solving the problem of path tracking with minimum time as per this method, boundary constraints and path constraints were well satisfied. The algorithm was not only precise but it could also shorten the evaluation period of vehicle handling stability and could reduce the tremendous cost for real vehicle testing. So the maneuverability of two different vehicles that complete the pylon course slalom test road with minimum time can be evaluated objectively by utilizing the method. The model correctness is verified through a real vehicle test.

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Path tracking controller design of four wheel independent steering automatic guided vehicle

Cited by 29 publications

References 6 publications

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

Dynamic Switch Control of Steering Modes for Four Wheel Independent Steering Rescue Vehicle

Path tracking with minimum time of vehicle handling inverse dynamics based on adaptive gauss pseudospectral method

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