Control Design and Development of a Navigation System for Port AGV Application

摘要

This article presents the control design and development of a Navigation System (NS) for an Automated Ground Vehicle (AGV) for use in a local port application. The design and development project involved an integrated design team of some 35 engineers and took about 4 years to complete, of which 1.5 years were spent on the trial site testing the design. The final NS software has more than 60,000 lines of code and together with the NS hardware provides an AGV system with an accuracy of about ±1cm. In this paper, we describe in detail the overall system approach of the NS design, highlight the use of H{sub}∞ loop-shaping method for controller design, and Extended Kalman Filter (EKF) for estimator design. The issues related to the implementation of the design using real-time embedded software are also discussed. The paper concluded by presenting sample trial results that show the achieved system performance in term of position accuracy and maneuvers. Video clips of some of these trials to prove the design will be presented during the conference.