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Modeling and Optimal Control for an Automated Guided Vehicle

W. Wang


This paper presents control approach of an advanced autonomous guided vehicle (AGV). The AGV system proposed in this paper consists of two main parts, which are vehicle bodies and a control board containing all of the sensors. The control board communicates with two guide sensor based on the photoelectric trajectory tracking. With the numbers and positions of photoelectric sensors which have received reflecting light, the offset of AGV away from the track is able to be calculated and sent to control board. The AGV is controlled by tuning rotary speed of two differential wheels, each dr iven by a brushless DC motor. This paper describes modeling and controller design techniques and shows the result of simulation.

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