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Path tracking controller design of four wheel independent steering automatic guided vehicle

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  • Robot and Applications
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Abstract

This paper presents a new type of four wheel independent steering automatic guided vehicle (4WIS-AGV) for carrying heavy baggage and proposes a controller for the 4WIS-AGV to track reference trajectories. To do this task, the followings are done. Firstly, a 4WIS-AGV is designed and manufactured for experimental purpose. Secondly, a kinematic modeling for the 4WIS-AGV is introduced based on a single track vehicle model. Thirdly, based on the modeling, a controller is designed based on Backstepping method for the 4WIS-AGV to track reference trajectories. Fourthly, a control system is developed using industrial PC and AVR ATmega128 microcontrollers to implement the designed controller. Finally, simulations and experiments are conducted to verify the effectiveness and performances of the proposed controller in tracking two types of reference trajectories: a trajectory with sharp edges for parallel steering maneuver and a circular trajectory for zero-sideslip maneuver. The results show that the proposed controller can make the 4WIS-AGV track the trajectory with sharp edges and the circular trajectory very well.

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Authors and Affiliations

  1. Department of Mechanical Design Engineering, Pukyong National University, Busan, 48547, Korea

    Yuhanes Dedy Setiawan, Trong Hai Nguyen, Pandu Sandi Pratama, Hak Kyeong Kim & Sang Bong Kim

Authors
  1. Yuhanes Dedy Setiawan
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  2. Trong Hai Nguyen
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  3. Pandu Sandi Pratama
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  4. Hak Kyeong Kim
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  5. Sang Bong Kim
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Corresponding author

Correspondence to Sang Bong Kim.

Additional information

Recommended by Associate Editor Yingmin Jia under the direction of Editor Myo Taeg Lim. This work was supported by a Research Grant of Pukyong National University (2016 year).

Yuhanes Dedy Setiawan was born in Indonesia on December 28, 1989. He received his B.S. degree in Mechanical Engineering from Diponegoro University, Indonesia, in 2012. He received his Master degree from the Dept. of Mechanical Design Engineering, in Pukyong National University, Busan, Korea in 2014. His research fields of interest are nonlinear control, adaptive control, path planning algorithm, AGV control and SLAM.

Trong Hai Nguyen was born in Vietnam on February 1, 1975. He received his B.S. and M.S. degrees from Dept. of Electronics and Telecommunication, Hochiminh City University of Technology, Vietnam, in 1999 and 2003. He is currently a student in doctor degree course at Pukyong National University. His research fields of interest are nonlinear control, robust control, path planning algorithm, conveyor control.

Pandu Sandi Pratama was born in Indonesia on November 1, 1986. He received his B.S. degree in Electrical Engineering Dept. of Diponegoro University, Indonesia in 2011. He then received his M.S. degree in the Interdisciplinary Program of Mechatronics Engineering Dept., Pukyong National University, Busan, Korea in 2013. He then received his Ph.D. degree from the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea in 2015. His research fields of interest are computer science, robotic and mobile robot.

Hak Kyeong Kim was born in Korea on November 11, 1958. He received his B.S. and M.S. degrees from Dept. of Mechanical Engineering, Pusan National University, Korea, in 1983 and 1985. He received his Ph.D. degree from the Dept. of Mechatronics Engineering, Pukyong National University, Busan, Korea in February, 2002. His fields of interest are robust control, biomechanical control, mobile robot control, and image processing control.

Sang Bong Kim was born in Korea on August 6, 1955. He received his B.S. and M.S. degrees from National Fisheries University of Busan, Korea, in 1978 and 1980. He received his Ph.D. degree from Tokyo Institute of Technology, Japan in 1988. After then, he is a Professor of the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea. His research has been on robust control, biomechanical control, and mobile robot control.

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Setiawan, Y.D., Nguyen, T.H., Pratama, P.S. et al. Path tracking controller design of four wheel independent steering automatic guided vehicle. Int. J. Control Autom. Syst. 14, 1550–1560 (2016). https://doi.org/10.1007/s12555-015-0216-7

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  • DOI: https://doi.org/10.1007/s12555-015-0216-7

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