Centralized Control Architecture for Cooperative Object Transportation using Multiple Omnidirectional AGVs

Firhan Huzaefa, Yen Chen Liu

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面6526-6532
頁數7
ISBN(電子)9781728140049
DOIs
出版狀態Published - 2019 十一月
事件2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
持續時間: 2019 十一月 32019 十一月 8

出版系列

名字IEEE International Conference on Intelligent Robots and Systems
ISSN(列印)2153-0858
ISSN(電子)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
國家China
城市Macau
期間19-11-0319-11-08

All Science Journal Classification (ASJC) codes

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

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