Open AccessA METHOD FOR TRAJECTORY TRACKING FOR DIFFERENTIAL DRIVE TYPE OF AUTOMATIC GUIDED VEHICLE
Author(s) -
Trong Hai Nguyen,
Hong-Thu Nguyen,
Hung Kim Khanh Pham,
Quoc Phuong Pham
Publication year - 2020
Publication title -
deleted journal
Language(s) - English
DOI - 10.26480/jtin.02.2021.51.53
Subject(s) - backstepping , trajectory , control theory (sociology) , computer science , lyapunov function , simultaneous localization and mapping , kalman filter , tracking (education) , kinematics , controller (irrigation) , extended kalman filter , artificial intelligence , computer vision , robot , mobile robot , nonlinear system , control (management) , adaptive control , psychology , pedagogy , physics , astronomy , quantum mechanics , classical mechanics , agronomy , biology
This paper proposes trajectory tracking algorithm for differential drive type of Automatic Guided Vehicle (AGV) using backstepping control and simultaneous localization and mapping (SLAM). To guarantee the tracking errors go to zero, backstepping control method is proposed. By choosing appropriate Lyapunov function based on its kinematic modeling, system stability is guaranteed and a control law can be obtained. For its positioning, simultaneous localization and mapping (SLAM) algorithm is employed. The landmarks are detected using spike algorithm. The AGV position can be estimated using Kalman filter by combining the encoder result and landmark positions. The simulation and experimental results show that the proposed controller successfully tracks the given trajectory.