제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.1343-1348
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- 1990
Construction of a prototype free-ranging AGV system
- Lee, Sang-Ryong (Department of Mechanical Engineering, Kyungpook National Univ.) ;
- Bae, Joon-Young (Department of Mechanical Engineering, Kyungpook National Univ.) ;
- Kwon, Seung-Man (Department of Mechanical Engineering, Kyungpook National Univ.)
- 발행 : 1990.10.01
초록
The architecture and functions of a prototype free ranging AGV system are described in this paper. The system has single tricycle configuration - the front wheel is driven and steered simultaneously. The primary position measurement device of this system is the redundant encoder system - an absolute encoder for the steering angle measurement of the front wheel, two incremental encoders for the measurement of the rear wheel rotations. The secondary position measurement device is implemented to reduce the accumulatad error in encoder measurements. The extended Kalman filter is suggested to combine the conflict measurement data for the proper position estimation.
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