Centralized Control Architecture for Cooperative Object Transportation using Multiple Omnidirectional AGVs

Firhan Huzaefa, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6526-6532
Number of pages7
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 2019 Nov
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 2019 Nov 32019 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19-11-0319-11-08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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