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Dynamic analysis of AGV control under dead-reckoning algorithm

Published online by Cambridge University Press:  01 September 2008

Abílio Azenha  and
Adriano Carvalho
Abílio Azenha*
Affiliation:
Institute for Systems and Robotics, Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias s/n, 4200–465 Porto, Portugal
Adriano Carvalho
Affiliation:
Institute for Systems and Robotics, Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias s/n, 4200–465 Porto, Portugal
*
*Corresponding author. E-mail: azenha@fe.up.pt
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Summary

In this paper, dead-reckoning localization errors for automated guided vehicles (AGVs) in indoors quasi-structured environments are studied. Based on error ellipse localization analysis, dead-reckoning errors arising from mismatched AGV wheels radius are investigated. The dynamic model for a differential-drive AGV type with mismatched wheels radius is also derived. The developed rationale shows that sensor fusion is a key feature for minimizing AGV localization errors. Two simulation scenarios and one experiment are presented to show system performance under AGV proportional-derivative (PD)-type control.

Keywords

AGV controlDead-reckoningMeasurement error analysisLocalizationSimulation

Information

Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008 , pp. 635 - 641
Copyright
Copyright © Cambridge University Press 2008

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