TY - GEN
T1 - Centralized Control Architecture for Cooperative Object Transportation using Multiple Omnidirectional AGVs
AU - Huzaefa, Firhan
AU - Liu, Yen Chen
N1 - Funding Information:
This work was partially supported by the Ministry of Science and Technology, Taiwan, under grants MOST 108-2636-E-006-007, MOST 106-2221-E-006-010-MY3, and MOST 105-2221-E-006-160-MY3.
PY - 2019/11
Y1 - 2019/11
N2 - This paper addresses the problem of cooperative transportation using multiple omnidirectional Automated Guided Vehicles (AGVs). To enhance flexibility and application potentials, mecanum-wheeled platform is considered for the proposed multi-AGV system while the cooperative transportation is executed without physical link/gripper to fix the object on the AGVs. Therefore, the position and number of AGV is adjustable depending on the size and weight of the transported object. Analysis of force distribution to each AGV during cooperative transportation is presented. Furthermore, the gradient projection method is exploited to regulate internal force according to the operational capability of each AGV. Moreover, an adaptive sliding mode controller is designed for AGV to cope with dynamic uncertainty during cooperative transportation. Stability of the proposed controller is proven by using Lyapunov Theorem. Finally, numerical simulation is presented to demonstrate the performance of the proposed control system.
AB - This paper addresses the problem of cooperative transportation using multiple omnidirectional Automated Guided Vehicles (AGVs). To enhance flexibility and application potentials, mecanum-wheeled platform is considered for the proposed multi-AGV system while the cooperative transportation is executed without physical link/gripper to fix the object on the AGVs. Therefore, the position and number of AGV is adjustable depending on the size and weight of the transported object. Analysis of force distribution to each AGV during cooperative transportation is presented. Furthermore, the gradient projection method is exploited to regulate internal force according to the operational capability of each AGV. Moreover, an adaptive sliding mode controller is designed for AGV to cope with dynamic uncertainty during cooperative transportation. Stability of the proposed controller is proven by using Lyapunov Theorem. Finally, numerical simulation is presented to demonstrate the performance of the proposed control system.
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U2 - 10.1109/IROS40897.2019.8968499
DO - 10.1109/IROS40897.2019.8968499
M3 - Conference contribution
AN - SCOPUS:85081167544
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6526
EP - 6532
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -