Design of an Outpupt Feedback Trajectory Controller for an Automated Guided Vehicle

Abstract

This paper presents the design of an output feedback trajectory controller for a Automated Guided Vehicle (AGV) differential drive. Its control architecture assumes that the two drive wheels are not coupled and the vehicle dynamics is not taken into account. It employs two independent velocity controllers that ensure the wheels’ velocities referenced by the trajectory controller. The reference trajectory is painted on the ground and is composed only by line segments and soft arcs. Simulation and experimental results show the satisfactory tracking performance of the proposed controller. Key Words— Robot control; mobile robots; nonlinear systems; trajectory tracking; control schemes.