Location Measurement and Path Control for Stack-Room Robot in Narrow Passages*

This paper deals with the problems of location and moving path control for the stack-room management robot in narrow passages. First a measuring approach of the location and the attitude for the stack-room management robot based on the radio frequency identification technology is proposed. Then a linear decomposition path control approach has been presented, which decomposes the motion of the stack-room management robot into a straight line motion and a rotational motion. Finally according to the linear decomposition models, the desired path control output and path planning algorithms are designed based on the electronic map of the stack-room, respectively. A simulation example is conducted to illustrate the effectiveness of the design algorithms.