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

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

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...

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Bibliographic Details
Main Authors: Li, Juncheng, Ran, Maopeng, Wang, Han, Xie, Lihua
Other Authors: School of Electrical and Electronic Engineering
Format: Conference or Workshop Item
Language:English
Published: 2020
Subjects:
Engineering::Computer science and engineering
Automated Guided Vehicles
Model Predictive Control
Online Access:https://hdl.handle.net/10356/144439
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Institution: Nanyang Technological University
Language: English
Description
Summary: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 reference velocity planning techniques are developed. Then a model predictive controller is designed to track the generated trajectory. In addition, obstacle avoidance capability is also incorporated in the navigation framework. To evaluate the proposed method, simulations and experiments are conducted. The results show that the AGV can achieve high trajectory tracking accuracy with smooth movement.

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