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

• 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
• Institution: 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...