Holonomic Automated Guided Vehicle control based on adaptive inverse dynamics Control

In this paper, we will propose a path control of Automated Guided Vehicle (AGV). This AGV can move for all directions by using steered type wheels. Furthermore we propose an adaptive path control for a holonomic and omnidirectional AGV under the assumption that we can not decide the parameters in designing the control system. Finally we show the validity of proposed method by numerical simulations in this presentation.