Adaptive control design of an omnidirectional autonated guided vehicle in consideration of mass change

摘要

Automated Guided Vehicle (AGV) is used in many factories. Wheeled mobile robot (WMR) is applied to the AGVs. The structure can not move in all directions freely. On the other hand, the structure that can be moved in all directions is important in the limited places such as factory. Recently omnidirectional mobile robots are studied in the robot field. One type of the mobile robots can move for all directions with special structure such that omniwheel. However the wheel damages floors, carrying capacity of the robot is low and the ability of climbing bump is inferior. These problems are very weakness when the robot is used the AGV in factory such that assembly car plant. For the reason, the AGV with omnidirectional type mechanism is desired. In thus paper, we proposed a new control method of Omnidirectional AGV. The proposed control uses the adaptive control technique for considering mass change of load.