Dynamic analysis of agv control under dead-reckoning algorithm

Authors:
Abílio Azenha;Adriano Carvalho
Affiliations:
Institute for systems and robotics, faculty of engineering, university of porto, rua dr. roberto frias s/n, 4200–465 porto, portugal;Institute for systems and robotics, faculty of engineering, university of porto, rua dr. roberto frias s/n, 4200–465 porto, portugal
Venue:
Robotica
Year:
2008

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Abstract

In this paper, dead-reckoning localization errors for automated guided vehicles (AGVs) in indoors quasi-structured environments are studied. Based on error ellipse localization analysis, dead-reckoning errors arising from mismatched AGV wheels radius are investigated. The dynamic model for a differential-drive AGV type with mismatched wheels radius is also derived. The developed rationale shows that sensor fusion is a key feature for minimizing AGV localization errors. Two simulation scenarios and one experiment are presented to show system performance under AGV proportional-derivative (PD)-type control.