Modelling, analysis and control design for an automated guided vehicle
This thesis examines the modeling and control issues for a heavy weight AGV used for cargo container transportation. The thesis has four main parts. In the first part of the thesis, a kinematic model for the AGV is derived. The derivations use a bicycle model to represent the AGV. This model represe...
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| Format: | Theses and Dissertations |
| Language: | English |
| Published: |
2008
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| Online Access: | http://hdl.handle.net/10356/13203 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This thesis examines the modeling and control issues for a heavy weight AGV used for cargo container transportation. The thesis has four main parts. In the first part of the thesis, a kinematic model for the AGV is derived. The derivations use a bicycle model to represent the AGV. This model represents the motions of an AGV with four steering wheels. Analysis of the derived kinematic model shows that it is capable of representing the AGV motions in straight line drive, parallel steering motion and turning manoeuvres. It is verified that the obtained kinematic model can represent translation motions accurately; theses verifications are done using data recorded from an actual size AGV used for cargo container transportation. However the obtained kinematic model cannot describe the turn manoeuvre sufficiently well. This is due to the complex dynamics involved in turning manoeuvres. This inadequacy of the kinematic model motivated the investigation of the dynamic model of the AGV. |
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