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On AGV's navigation in 3-dimensional space

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Abstract

This paper deals with position estimation and path control for Autonomous Guided Vehicles (AGV). To enable a vehicle or a mobile robot in following a continuous “virtual” path without human control, these techniques play an important role. The relationship between the vehicle's motion in 3-dimensional space and the shape of a curved surface is described. In particular, the introduction of a digital terrain model in dead reckoning is considered. Moreover, a possible nonlinear control is developed based on curvilinear path coordinates, and the proof for global stability is given. To achieve general validity, these topics are treated here independently of the cart's special mechanization (the configuration of steered wheels and driven wheels). Simulation studies are presented to illustrate the investigations.

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  1. Institute for Theoretical Geodesy of the University Bonn, Nußallee 17, D-53115, Bonn, Germany

    Jürgen Kusche

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  1. Jürgen Kusche
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Kusche, J. On AGV's navigation in 3-dimensional space. Journal of Geodesy 70, 183–187 (1996). https://doi.org/10.1007/BF00873699

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  • DOI: https://doi.org/10.1007/BF00873699

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