Towards cooperative transportation of multiple mecanum-wheeled automated guided vehicles

Jih Sien Peng, Yen Chen Liu

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Modeling 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
主出版物子標題Modeling, Analysis, and Control
發行者American Society of Mechanical Engineers (ASME)
ISBN(電子)9780791859155
DOIs
出版狀態Published - 2019
事件ASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
持續時間: 2019 十月 82019 十月 11

出版系列

名字ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
2

Conference

ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
國家/地區United States
城市Park City
期間19-10-0819-10-11

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 機械工業
  • 工業與製造工程

指紋

深入研究「Towards cooperative transportation of multiple mecanum-wheeled automated guided vehicles」主題。共同形成了獨特的指紋。

引用此