MPC-based unified trajectory planning and tracking control approach for Automated Guided Vehicles∗

• Main Authors: Li, Juncheng, Ran, Maopeng, Wang, Han, Xie, Lihua
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2020
• 主題: Engineering::Computer science and engineering; Automated Guided Vehicles; Model Predictive Control
• 在線閱讀: https://hdl.handle.net/10356/144439
• 機構: Nanyang Technological University

Autonomous navigation of Automated Guided Vehicles (AGVs) in manufacturing environment is an important part of industrial automation. This paper presents an MPC-based unified trajectory planning and tracking control approach for AGVs. Based on the model of the AGV, improved path planning and referen...