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A new control strategy for tracking in mobile robots and AGVs

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3 Author(s)
A. Hemami ; Dept. of Mech. Eng., Concordia Univ., West Montreal, Que., Canada ; M. G. Mehrabi ; R. M. H. Cheng

The tracking problem of a wheeled mobile robot or an automated guided vehicle is considered. For the vehicles with a steering wheel, a control strategy is proposed to determine the steering angle at each instant based on measured errors, i.e. the offset from the path and the deviation in orientation. The results of computer simulation of the dynamics of the system and comparisons with other proposed control policies are presented. It is shown that by implementing the new policy significant improvement in tracking capability can be achieved

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990