To access the full text documents, please follow this link: http://hdl.handle.net/2117/10314

Simulation study of a remote wireless path tracking control with delay estimation for an autonomous guided vehicle
Lozoya, Camilo; Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª; Martín Rull, Enric Xavier
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GRINS - Robòtica Intel·ligent i Sistemes; Universitat Politècnica de Catalunya. GR-DCS - Sistemes Distribuïts de Control
Industrial applications involving mobile systems can benefit from the use of wireless technology. However, wireless communication has not been widely accepted on the factory floor due to its difficulty in achieving the timely and reliable transmission of messages over error-prone wireless channels. This paper presents an autonomous guided vehicle (AGV) path tracking wireless control system where an accurate delay estimation scheme is shown to be the key for successful operation. The control architecture consists on an AGV connected through a wireless network to a controller. To mitigate the negative effects that varying time delays in data transfer have in the networked control loop, the controller performs two tasks at each loop operation. First, it uses a Kalman filter to produce an optimal delay estimate considering a simple stochastic model of the wireless delay dynamics. Second, each delay estimate is employed to infer the real AGV position which permits to compute the appropriate control commands. Results show that the proposed technique provides more efficient and effective operation for path tracking control compared to similar previously proposed solutions.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles
Autonomous guided vehicle
Remote path tracking
Vehicles autodirigits
info:eu-repo/semantics/publishedVersion
Article
Springer
         

Show full item record

Related documents

Other documents of the same author

Lozoya, Camilo; Romero, Julio; Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª
Camacho Santiago, Antonio; Martí Colom, Pau; Velasco García, Manel; Lozoya, Camilo; Villa Millaruelo, Ricardo; Fuertes Armengol, José Mª; Griful Ponsati, Eulàlia
Yépez Castillo, José Gregorio; Lozoya, Camilo; Velasco García, Manel; Martí Colom, Pau; Fuertes Armengol, José Mª
Torres Guerrero, Gina; Velasco García, Manel; Martí Colom, Pau; Martín Rull, Enric Xavier; Fuertes Armengol, José Mª
Martí Colom, Pau; Velasco García, Manel; Camacho Santiago, Antonio; Martín Rull, Enric Xavier; Fuertes Armengol, José Mª
 

Coordination

 

Supporters