Cooperative Object Transportation for Multiple Omnidirectional Automated Guided Vehicle with External Force Estimation

Abstract

This thesis addresses the problem of cooperative transportation using multiple omnidirectional Automated Guided Vehicle (AGV) To enhance flexibility and application potentials mecanum-wheeled platform is considered for the proposed multi-AGV system and cooperative transportation is executed without physical link/gripper to fix the object on the AGVs The position and number of AGV is adjustable depending on the size and weight of the transported object The analysis of external force distribution to each AGV during cooperative transportation is presented in this thesis Furthermore three the external force estimation methods are presented to handle the effect of transported object inertia to each AGV Moreover 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 and experiment are done to demonstrate the performance and efficiency of the proposed multi-AGV control system

Date of Award	2019
Original language	English
Supervisor	Yen-Chen Liu (Supervisor)