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2 September 2004 Control system and laser-based sensor design of an automonous vehicle for industrial environments
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Abstract
This work presents an approach to the sensorial device and control system of an autonomous vehicle intended for navigating and performing precise load/unload tasks in industrial environments. The control system is able to perform turns, line following, and arbitrary curve following specified as splines. It is based on a multivariable design using the technique of pole placement in state space. The control system uses results from parameter estimation modules to adapt to the changing responses of traction motors when loaded or unloaded, such estimators are Kalman filters that recover the vehicle motion parameters from measurements performed by the positioning sensor. Several steering configurations are possible since the control system provides a radius of turn as output. So differential drive, tricycle drive or Ackerman steering can be done by transforming this radius in motor orders, depending on the geometry of the vehicle. The only sensor the system relies on is a laser-based local positioning system consisting of a rotating laser and retro-reflectors. Robust algorithms for signal analysis and position/orientation estimation have been developed. The sensor is able to detect reflectors 25 meters away in daylight or in dusty industrial environments using a low-cost 1 mW laser. The system has been tested on two mobile bases, using differential drive and tricycle drive.
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Jose M. Sanchiz, Jorge Badenas, and Filiberto Pla "Control system and laser-based sensor design of an automonous vehicle for industrial environments", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); https://doi.org/10.1117/12.565046
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