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A Cooperative Object-Transportation Control of Multiple AGV Systems using Decentralized Passive Velocity Field Control Algorithm  

Suh, Jin-Ho ((재)포항지능로봇연구소)
Kim, Young-Bok (부경대학교 기계공학부)
Lee, Kwon-Soon (동아대학교 전기공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.55, no.6, 2006 , pp. 261-263 More about this Journal
Abstract
Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of p reposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also, the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.
Keywords
Automated Guided Vehicle(AGV); Decentralize Control; Passive Velocity Field Control; Cooperative Control;
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  • Reference
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