Design of Four Wheel Drive Four Wheel Steering AGV And Trajectory Tracking Control Research | |
---|---|
( Volume 5 Issue 9,September 2019 ) OPEN ACCESS | |
Author(s): | |
Hao Sun, Ruijun Liu, Chaoshan Zhao, Haoran Wei | |
Abstract: | |
A four-wheel independent driving and four-wheel independent steering platforms is present in this paper. Compared with the Mecanum wheel, it has the advantages of simple processing, high motion efficiency, strong bearing capacity, and can adapt to complex factory conditions. Firstly, the omnidirectional kinematics model is constructed, and the kinematics analysis is carried out to obtain the relationship between the rotational speed and the rotation angle under different steering modes. Secondly, in order to realize the trajectory tracking control of omnidirectional mobile platform, the lateral deviation trajectory tracking control algorithm of omnidirectional mobile platform is proposed. In order to achieve accurate trajectory tracking and provide sufficient corrective ability for trajectory tracking, a hierarchical control strategy is proposed. Finally, the actual vehicle experiment proves that the full steering mobile platform has good motion effect and can meet the requirements of working conditions, which provides a certain reference for the application of AGV in the industrial field. |
|
Paper Statistics: | Total View : 589 | Downloads : 580 | Page No: 1-5 | |
Cite this Article: | Click here to get all Styles of Citation using DOI of the article. |