Hybrid control of a tricycle wheeled AGV for path following using advanced fuzzy-PID
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This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. TheAutomated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steeringdriving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integratestwo control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to followan unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on twoPID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposedcontrollers.
Abstract
This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. TheAutomated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steeringdriving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integratestwo control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to followan unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on twoPID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposedcontrollers.
참고문헌 (20)
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