조향형 무인반송차의 동적 매개변수 추정과 미끄러짐이 없는 궤적 생성

Abstract

To improve dynamic behaviour of the current steered wheel type AGVs an accurate modeling of system parameters and optimal trajectory generation have been achieved. The system parameters such as a mass moment of inertia and mass center position are estimated using only driving motor torque on a real time. with the obtained system parameter a velocity trajectory which is capable of no slip motion is generated. Simulation demonstrates that a positioning error using this velocity trajectory is much decreased.