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dc.contributor.authorLozoya, Camilo
dc.contributor.authorMartí Colom, Pau
dc.contributor.authorVelasco García, Manel
dc.contributor.authorFuertes Armengol, José Mª
dc.contributor.authorMartín Rull, Enric Xavier
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationLozoya, C. [et al.]. Simulation study of a remote wireless path tracking control with delay estimation for an autonomous guided vehicle. "International Journal of Advanced Manufacturing Technology", 01 Juny 2010.
dc.identifier.issn0268-3768 1433-3015
dc.description.abstractIndustrial applications involving mobile systems can benefit from the use of wireless technology. However, wireless communication has not been widely accepted on the factory floor due to its difficulty in achieving the timely and reliable transmission of messages over error-prone wireless channels. This paper presents an autonomous guided vehicle (AGV) path tracking wireless control system where an accurate delay estimation scheme is shown to be the key for successful operation. The control architecture consists on an AGV connected through a wireless network to a controller. To mitigate the negative effects that varying time delays in data transfer have in the networked control loop, the controller performs two tasks at each loop operation. First, it uses a Kalman filter to produce an optimal delay estimate considering a simple stochastic model of the wireless delay dynamics. Second, each delay estimate is employed to infer the real AGV position which permits to compute the appropriate control commands. Results show that the proposed technique provides more efficient and effective operation for path tracking control compared to similar previously proposed solutions.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles
dc.subject.lcshAutonomous guided vehicle
dc.subject.lcshRemote path tracking
dc.titleSimulation study of a remote wireless path tracking control with delay estimation for an autonomous guided vehicle
dc.subject.lemacVehicles autodirigits
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.contributor.groupUniversitat Politècnica de Catalunya. GR-DCS - Sistemes Distribuïts de Control
dc.description.peerreviewedPeer Reviewed
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
upcommons.citation.authorLozoya, C.; Martí, P.; Velasco, M.; Fuertes, J.; Martin, E.X.
upcommons.citation.publicationNameInternational Journal of Advanced Manufacturing Technology

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