A METHOD FOR TRAJECTORY TRACKING FOR DIFFERENTIAL DRIVE TYPE OF AUTOMATIC GUIDED VEHICLE

Author:
Trong Hai Nguyen, Hoai Nhan Nguyen, Hung Kim Khanh Pham, Quoc Phuong Pham

Doi: 10.26480/jtin.02.2021.51.53

This is an open access article distributed under the Creative Commons Attribution License CC BY 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited

This paper proposes trajectory tracking algorithm for differential drive type of Automatic Guided Vehicle (AGV) using backstepping control and simultaneous localization and mapping (SLAM). To guarantee the tracking errors go to zero, backstepping control method is proposed. By choosing appropriate Lyapunov function based on its kinematic modeling, system stability is guaranteed and a control law can be obtained. For its positioning, simultaneous localization and mapping (SLAM) algorithm is employed. The landmarks are detected using spike algorithm. The AGV position can be estimated using Kalman filter by combining the encoder result and landmark positions. The simulation and experimental results show that the proposed controller successfully tracks the given trajectory.

Pages 51-53
Year 2021
Issue 2
Volume 1