@inproceedings{4789afd9b5d442d686b71ea7f81699af,
title = "Sectionalized tracking control and experiment of AGV",
abstract = "In order to have a better practical application of AGV in automated warehouse, this paper proposes a sectionalized tracking control method. Firstly, the kinematic model and the tracking control model of AGV are designed. Secondly, the path planned in this paper is composed of segments and arcs. Based on the shortest time principle, and also taking the geometric characteristics of segments and arcs into consideration, the planning of reference posture and reference velocities for segment and for arc are modeled. Then, tracking control rule is designed with Lyapunov function. Finally, the tracking control experiments of segment, arc and path consisting of segments and arcs are carried out on an experimental platform. And it is concluded that the sectionalized tracking control method is effective and feasible.",
keywords = "AGV, Lyapunov, Nonholonomic system, Tracking control",
author = "Dongdong Chen and Peijiang Yuan and Tianmiao Wang and Fucun Ma and Yong Li and Ting Lai and Wei Han",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 9th IEEE Conference on Industrial Electronics and Applications, ICIEA 2014 ; Conference date: 09-06-2014 Through 11-06-2014",
year = "2014",
month = oct,
day = "20",
doi = "10.1109/ICIEA.2014.6931431",
language = "英语",
series = "Proceedings of the 2014 9th IEEE Conference on Industrial Electronics and Applications, ICIEA 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1645--1650",
booktitle = "Proceedings of the 2014 9th IEEE Conference on Industrial Electronics and Applications, ICIEA 2014",
address = "美国",
}