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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국마린엔지니어링학회 Journal of Advanced Marine Engineering and Technology (JAMET) 한국마린엔지니어링학회지 제38권 제10호
- 발행연도
- 2014.12
- 수록면
- 1,287 - 1,296 (10page)
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This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.
목차
Abstract
1. Introduction
2. System Modeling
3. Measurement of Tracking Errors using Camera Sensor
4. Controller Design
5. Simulation and Experimental Results
6. Conclusions
References
참고문헌 (21)
참고문헌 신청
1. [학술지(정기간행물)] - Viet-Tuan Dinh / 2011 / Motion Control of Omnidirectional Mobile Platform for Path Following Using Backstepping Technique / 한국해양공학회지 25 (5) : 1 ~ 8
2. [학술지(정기간행물)] - 김상봉 / 2010 / Motion Control of an Omnidirectional Mobile Platform for Trajectory Tracking Using an Integral Sliding Mode Controller / International Journal of Control, Automation, and Systems 8 (6) : 1221 ~ 1231
3. [학술대회논문] - T. L. Bui / 2014 / Adaptive motion controller design for an omnidirectional AGV based on laser sensor / International Conference on Advanced Engineering-Technology and Apllications((AETA 2013):Recent Advances in Electrical Engineering and Related Sciences, Lecture Notes in Electrical Engineering 282 : 509 ~ 523
4. [학술지(정기간행물)] - M. Eghtesad / 2004 / Experimental study of the dynamic based feedback linearization of an autonomous wheeled ground vehicle / Journal of Robotics and Autonomous Systems 47 (1) : 47 ~ 63
5. [학술지(정기간행물)] - E. Aguirre / 2000 / Fuzzy behaviors for mobile robot navigation : design, coordination and fu-sion / International Journal of Approximate Reasoning 25 (3) : 255 ~ 289
2. [학술지(정기간행물)] - 김상봉 / 2010 / Motion Control of an Omnidirectional Mobile Platform for Trajectory Tracking Using an Integral Sliding Mode Controller / International Journal of Control, Automation, and Systems 8 (6) : 1221 ~ 1231
3. [학술대회논문] - T. L. Bui / 2014 / Adaptive motion controller design for an omnidirectional AGV based on laser sensor / International Conference on Advanced Engineering-Technology and Apllications((AETA 2013):Recent Advances in Electrical Engineering and Related Sciences, Lecture Notes in Electrical Engineering 282 : 509 ~ 523
4. [학술지(정기간행물)] - M. Eghtesad / 2004 / Experimental study of the dynamic based feedback linearization of an autonomous wheeled ground vehicle / Journal of Robotics and Autonomous Systems 47 (1) : 47 ~ 63
5. [학술지(정기간행물)] - E. Aguirre / 2000 / Fuzzy behaviors for mobile robot navigation : design, coordination and fu-sion / International Journal of Approximate Reasoning 25 (3) : 255 ~ 289
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