Towards cooperative transportation of multiple mecanum-wheeled automated guided vehicles

Jih Sien Peng, Yen Chen Liu

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

2 Citations (Scopus)


Utilizing multiple small-sized automated guided vehicles(AGVs) in cooperatively transport large and heavy objects inmanufacturing factories or logistics is an emerging research direction. Flexibility and efficiency can be enhanced by usingmulti-AGV comparing to a large AGV with higher capacity especially in clutter environments. In this paper, a multi-AGVsystem by using Mecanum wheels to provide omnidirectionalmovement is proposed for cooperative transportation. Accordingly, the proposed Mecanum-wheeled automated guided vehicles (MWAGVs) composed of Mecanum wheels and a rotaryplatform provides not only non-constrained movement but alsoplanar displacement for allowance of distance errors. In the proposed MWAGVs, the formation control with fixed geometry during operation is significant especially with unknown object information, dynamic uncertainties, and external disturbances. Therefore, the passivity-based adaptive synchronizing control algorithm is developed to ensure stability and tracking performancewith uncertain dynamic parameters. Simulations and Experiments show the efficacy of designed Mecanum-wheeled AGV.

Original languageEnglish
Title of host publicationModeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations
Subtitle of host publicationModeling, Analysis, and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859155
Publication statusPublished - 2019
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: 2019 Oct 82019 Oct 11

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019


ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Country/TerritoryUnited States
CityPark City

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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