基于共识的自动引导车辆动态目的地编队控制

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI:10.23919/SICE.2019.8859814

S. Manoharan, Wei-Yu Chiu

{"title":"基于共识的自动引导车辆动态目的地编队控制","authors":"S. Manoharan, Wei-Yu Chiu","doi":"10.23919/SICE.2019.8859814","DOIUrl":null,"url":null,"abstract":"Consensus based control has proven to be simple and effective in addressing nonlinearity invoked by robot formation control in dynamic environments. This study proposes a dynamic destination approach to formation control of Automated Guided Vehicles (AGVs). The dynamic destination approach is combined with a modified consensus based control method to maintain the formation with modest deviation. A leader-follower formation control structure for multiple AGVs is adopted. The proposed methodology is testified using both differential drive and omnidirectional mobile robots. Simulation results show the robustness of the modified consensus based controller and the proposed dynamic destination approach.","PeriodicalId":147772,"journal":{"name":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Consensus Based Formation Control of Automated Guided Vehicles Using Dynamic Destination Approach\",\"authors\":\"S. Manoharan, Wei-Yu Chiu\",\"doi\":\"10.23919/SICE.2019.8859814\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Consensus based control has proven to be simple and effective in addressing nonlinearity invoked by robot formation control in dynamic environments. This study proposes a dynamic destination approach to formation control of Automated Guided Vehicles (AGVs). The dynamic destination approach is combined with a modified consensus based control method to maintain the formation with modest deviation. A leader-follower formation control structure for multiple AGVs is adopted. The proposed methodology is testified using both differential drive and omnidirectional mobile robots. Simulation results show the robustness of the modified consensus based controller and the proposed dynamic destination approach.\",\"PeriodicalId\":147772,\"journal\":{\"name\":\"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)\",\"volume\":\"104 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.23919/SICE.2019.8859814\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/SICE.2019.8859814","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 4

摘要

基于共识的控制方法被证明是解决动态环境下机器人编队控制引起的非线性问题的一种简单有效的方法。提出了一种自动导引车辆(agv)编队控制的动态目的地方法。将动态目标方法与改进的基于共识的控制方法相结合，使地层保持适度偏差。采用多agv的leader-follower群体控制结构。采用差动驱动和全向移动机器人对该方法进行了验证。仿真结果表明，改进的基于共识的控制器和提出的动态目标方法具有鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Consensus Based Formation Control of Automated Guided Vehicles Using Dynamic Destination Approach

Consensus based control has proven to be simple and effective in addressing nonlinearity invoked by robot formation control in dynamic environments. This study proposes a dynamic destination approach to formation control of Automated Guided Vehicles (AGVs). The dynamic destination approach is combined with a modified consensus based control method to maintain the formation with modest deviation. A leader-follower formation control structure for multiple AGVs is adopted. The proposed methodology is testified using both differential drive and omnidirectional mobile robots. Simulation results show the robustness of the modified consensus based controller and the proposed dynamic destination approach.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

自引率

0.00%

发文量