Controlling and modeling of an automated guided vehicle

In this paper the designing aspects of a path controlled three wheeler vehicle is discussed. Two of the three wheels are driven independently by DC motors. Incremental encoders are used to give feedbacks. The position of the vehicle is calculated by kinematical model assuming ideal rolling of the driven wheels. PWM signals are used to drive the motors with a given angular velocity. The separate driving electronic is controlled via I
²
C protocol. A comparison is made between the real and the calculated positions of the vehicle.