Path replanning and controller design for trajectory tracking of automated guided vehicles

摘要

This paper proposes D* Lite algorithm and controller design based on backstepping method for automated guided vehicles. The D* Lite algorithm is to replan a path for automated guided vehicle to avoid obstacles in the work environment such as objects that are stationary, moving, known and unknown. The designed controller is for the automated guided vehicle to track the replanned path. To do this task, the followings are done: system modeling, path replanning development and controller design. Simulations and experiments are conducted for verification of the proposed algorithm and controller. The simulation and experimental results show that the proposed algorithm and controller work well by enabling the automated guided vehicle to replan the path that passes unknown obstacle and track the planned trajectory with very small errors.