Controller Synthesis Applied to Automatic Guided Vehicles (original) (raw)

1997, IFAC Proceedings Volumes

We h a ve b e e n i n terested in Automatic Guided Vehicles (AGV) for several years. In this paper, we synthesize controllers for AGV applications. Particularly, we are interested in road following and direction change tasks, and in analyzing the in uence of roll and pitch perturbations on vehicle behaviour. We use the bicycle as the kinematic vehicle model, and we c hoose the white band position of the road as the sensor signal. We de ne an interaction between the camera, which i s m o u n ted inside the vehicle, and the white band detected in the image space. Using this kind of interaction, we present h o w to use a pole assignment t e c hnique to solve the servoing task. We s h o w the simulation and experimental results (1/10 scale demonstrator) with and without perturbations.

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