Development and Controller Design of Four Wheel Independent Steering Automatic Guided Vehicles
- Abstract
- Development of Automated Guided Vehicles (AGVs) has been an interesting research topic over decades not only for researchers in university but also for AGV manufacturers. The goal is to improve AGVs’ efficiency in fulfilling the given task such as material handling. Several kinds of wheel configuration for AGVs have been developed such as differential drive configuration and tricycle wheel configuration. To get higher maneuverability and flexibility, four wheel independent steering configuration have been proposed for development of AGVs, hereafter referred to as four wheel independent steering AGVs (4WIS-AGVs).
The objective of this thesis is to present a new type of 4WIS-AGV for carrying heavy baggage and propose a controller that is designed for the 4WIS-AGV to track given trajectories like omnidirectional tracking using Backstepping method. To do this task, the followings are done. First, a 4WIS-AGV is designed and manufactured for experimental purpose. Eight DC motors are used in this system: four motors for steering motor and the others for driving motor. Second, a kinematic modeling of the 4WIS-AGV is created based on a single track vehicle model. This model is obtained by reducing an ordinary four wheel vehicle model into a two wheel vehicle model with the wheels at the centerline of the vehicle. Third, based on the modeling, a trajectory tracking controller is designed based on Backstepping method for the 4WIS-AGV to track a given trajectory omnidirectionally. Fourth, to implement the designed controller, a control system is developed using industrial PC and AVR ATmega128 microcontrollers. Industrial PC is used as the main controller which collects data from sensors, generates control signal and controls Graphical User Interface (GUI) of the system. AVR ATmega128 microcontrollers are used to convert control signal from industrial PC to Pulse Width Modulation (PWM). This PWM signal is then converted to voltage signals by motor drivers. A monitor is used to display the GUI to users. Laser navigation system NAV200 for getting position data of the vehicle and eight encoders for getting angular velocity data of eight motors for 4 steering motors and 4 driving motors are used. Two 12V batteries are used to supply power to the system. Finally, simulations and experiments are conducted to verify the effectiveness and the performances of the proposed controller for tracking two reference trajectories: a trajectory with sharp edges for parallel steering maneuver and a circular trajectory for zero-sideslip maneuver. The results show that the proposed controller makes the 4WIS-AGV track the reference trajectory with sharp edges for parallel steering maneuver and the reference circular trajectory for zero-sideslip maneuver very well.
- Issued Date
- 2015
- Awarded Date
- 2015. 2
- Type
- Dissertation
- Publisher
- Pukyong National University, The Graduate School
- Affiliation
- Pukyong National University, Department of Mechanical Design Engineering
- Department
- 대학원 기계설계공학과
- Advisor
- Sang Bong Kim
- Table Of Contents
- Contents
Acknowledgements
Contents i
Abstract iii
List of Figures v
List of Tables xi
Chapter 1: Introduction 1
1.1 Background and motivation 1
1.2 Objective and research method 4
1.3 Outline and contribution of thesis 6
Chapter 2: System Modeling and Controller Design 8
2.1 Basic terminologies 8
2.2 Four wheel steering vehicle maneuvers 11
2.2.1 Parallel steering maneuver 11
2.2.2 Zero-sideslip maneuver 13
2.3 Kinematic modeling 22
2.4 Controller design based on Backstepping method 29
Chapter 3: Controller Implementation and Hardware
Description 34
3.1 Mechanical design 34
3.1.1 Body configuration 36
3.1.2 Wheel configuration 40
3.2 Electrical design 43
3.2.1 DC motors 44
3.2.2 Encoders 45
3.2.3 Industrial PC 46
3.2.4 Battery 49
3.2.5 Microcontrollers AVR ATmega128 50
3.2.6 Motor drivers 51
3.2.7 Monitor 51
3.2.8 Laser Navigation System NAV200 53
3.3 Graphical Unit Interface (GUI) software 57
Chapter 4: Simulation and Experimental Results 60
4.1 Simulation results 60
4.1.1 Reference trajectory with sharp edges 60
4.1.2 Circular reference trajectory 76
4.2 Experimental results 94
4.2.1 Reference trajectory with sharp edges 94
4.2.2 Circular reference trajectory 101
Chapter 5: Conclusions 115
5.1 Conclusions 115
5.2 Future works 117
References 118
Publication and Conferences 128
Appendix A: Proof of Eq. (2.10) 131
Appendix B: Proof of Eqs. (2.12) - (2.15) 152
Appendix C: Proof of Eqs. (2.53) and (2.54) 159
Appendix D: Proof of Eq. (2.62) 161
Appendix E: Mechanical design drawing 164
- Degree
- Master
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