Model-based design of the vehicle dynamics control for an omnidirectional automated guided vehicle (AGV)

摘要

This paper presents the concept of an omnidirectional automated guided vehicle (AGV) and the model-based design of the vehicle dynamics control. To increase the movement flexibility of the AGV the omnidirectional maneuverability should be particularly taken into account in the concept of the new AGV. In contrast to conventional AGV, which uses normal conventional wheels to transmit the driving torque to the road surface, mecanum wheels are used in the new AGV to ensure omnidirectional maneuverability in the realization of the chassis. To perform the planar motion of the AGV as quickly and exactly as the specified trajectory, the vehicle dynamics control is model-based designed, whereby the kinematic and dynamic behavior of the AGV is firstly described by a mathematical model according to the simplified physical vehicle model. By analyzing the mathematical model, the suitable control algorithm is selected and thus the control structure, as well as the control parameters, are determined.