Adaptive motion controller design for an omnidirectional AGV based on laser sensor

Abstract

Automatic Guided Vehicles (AGVs) are used in many factories. This paper proposes an adaptive tracking controller of omnidirectional AGV (OAGV) with the constant unknown mass and the uncertain bounded friction and slip force vector exerted on the driving wheels. The OAGV consists of 3 wheels with three omnidirectional wheels are equally spaced 120° from one another. The controller based on the dynamic modeling is designed based on Lyapunov stability theory to stabilize the OAGV to follow a sharp edge trajectory and OAGV doesn't change heading direction during movement. A laser sensor device NAV200 is used to detect the OAGV position in door environment in real-time. The simulation and experiment results are presented to demonstrate the effectiveness of the proposed controller. © Springer-Verlag Berlin Heidelberg 2014.