Dynamic system parameter estimation and trajectory generation with no slip for steered wheel type automatic guided vehicles

학위논문(석사) - 한국과학기술원 : 정밀공학과, 1994.2, [ v, 43 p. ]한국과학기술원 : 정밀공학과

Dynamci System Parameter Estimation and Trajectory Generation with No Slip for Steered Wheel Type AGV

To improve dynamic behaviour of the current steered wheel type AGVs an accurate modeling of system parameters and optimal trajectory generation have been achieved. The system parameters such as a mass moment of inertia and mass center position are estimated using only driving motor torque on a real time. with the obtained system parameter a velocity trajectory which is capable of no slip motion is generated. Simulation demonstrates that a positioning error using this velocity trajectory is much decreased