Control of Automated Guided Vehicle for Path Following Using Camera Sensor
- Alternative Title
- 카메라 센서를 이용한 무인운송차량 (AGV)의 경로 추종제어
- Abstract
- In this section, contents of the dissertation and their contributions are summarized as follows:
Chapter 1: Introduction
In this chapter, background and motivation about AGV is presented. Objective and researching method is described. Outline and summary of contribution of this dissertation are given.
Chapter 2: System Modeling
This chapter presents the modeling of kinematic and dynamic models of the AGV system based on the generic method about wheeled mobile robot introduced by Guy Campion. This chapter is divided into three sections. The first section is about characterization of wheels. The second section presents the kinematic models for AGV. Finally, the dynamic model is given in the last section.
Chapter 3: Hardware and Software Design
This chapter describes the hardware structure of the AGV system including actuators, sensors and hardware configuration of the control system. After that, two software programs are developed in C# language. This chapter is divided into three sections. The first one is hardware description. The second one is hardware configuration of control system of the AGV. The last one is software developing.
Chapter 4: Controller Design
In this chapter, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for AGV to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are designed.
Chapter 5: Simulation and Experimental Results
Simulation and experimental results for AGV are given to show the effectiveness of the proposed controller.
Chapter 6: Conclusions and Future Work
Conclusions for this dissertation and some ideas for future work are presented.
- Issued Date
- 2011
- Awarded Date
- 2011. 2
- Type
- Dissertation
- Publisher
- 부경대학교
- Affiliation
- 부경대학교 공과대학 대학원
- Department
- 대학원 메카트로닉스공학협동과정
- Advisor
- 김상봉
- Table Of Contents
- Chapter 1: Introduction 1
1.1 Background and motivation 1
1.2 Researching objective and method 5
1.3 Outline of dissertation and summary of contributions 7
Chapter 2: System modeling 9
2.2 Characterization of wheels 10
2.3 Kinematic modeling 11
2.4 Dynamic modeling 16
2.5 Tracking error schematic of AGV 20
Chapter 3: Hardware and Software Design 23
3.1 Hardware description 23
3.2 Hardware configuration of control system of the AGV 26
3.3 Software development 29
3.3.1 Image processing and control algorithm calculating program 30
3.3.2 Error measuring using camera sensor 31
3.3.3 Image processing procedure 32
3.3.4 Monitoring and remote control program 34
Chapter 4: Controller Design 36
4.1 Fuzzy controller design 36
4.2 Inverse kinematic 39
4.3 PID controller design 40
4.4 Full structure of the AGV control algorithm for path following using camera sensor 43
Chapter 5: Simulation and Experimental Results 44
5.1 Simulation results 46
5.2 Experiment results 51
Chapter 6: Conclusions and Future Works 55
6.1 Conclusions 55
6.2 Discussion and future works 57
References 58
Publications and Conferences 64
Appendix A 66
Appendix B 69
Appendix C 73
- Degree
- Master
- Appears in Collections:
- 대학원 > 메카트로닉스공학협동과정
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