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- 저자 : Amruta Vinod Gulakari (검색결과 1 건)
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Pandu Sandi Pratama,Amruta Vinod Gulakari,Yuhanes Dedy Setiawan,김대환,김학경,김상봉 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.2
This paper presents an implementation and experimental validation of trajectory tracking and fault detectionalgorithm for sensors and actuators of Automatic Guided Vehicle (AGV) system based on multiple positioningmodules. Firstly, the system description and the mathematical modeling of the differential drive AGV system aredescribed. Secondly, a trajectory tracking controller based on the backstepping method is proposed to track thegiven trajectory. Thirdly, a fault detection algorithm based on the multiple positioning modules is proposed. TheAGV uses encoders, laser scanner, and laser navigation system to obtain the position information. To understandthe characteristics of each positioning module, their modeling are explained. The fault detection method uses two ormore positioning systems and compares them using Extended Kalman Filter (EKF) to detect an unexpected deviationeffected by fault. The pairwise differences between the estimated positions obtained from the sensors are calledas residue. When the faults occur, the residue value is greater than the threshold value. Fault isolation is obtainedby examining the biggest residue. Finally, to demonstrate the capability of the proposed algorithm, it is appliedto the differential drive AGV system. The simulation and experimental results show that the proposed algorithmsuccessfully detects the faults when the faults occur.
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