Slip Estimation and Compensation Control of Omnidirectional Wheeled Automated Guided Vehicle

To achieve Industry 4.0 solutions for the networking of mechatronic components in production plants, use Internet Things (IoT) technology is optimal way goods transportation cyber-physical system (CPS). As a result, automated guided vehicles (AGVs) are networked to all other participants accept and execute transport jobs. Accurately tracking planned paths AGVs therefore essential. The omnidirectional mobile vehicle has shown its excellent characteristics crowded environments narrow aisle spaces. However, slip problem more serious than that general wheeled vehicle. This paper proposes estimation compensation control method an Mecanum-wheeled (OMWAGV) implements system. Based on platform, Microchip dsPIC30F6010A microcontroller-based uses MPU-9250 multi-axis accelerometer sensor derive longitudinal speed, transverse steering angle wheel platform. These data then compared with those from motor encoders. A linear regression recursive least squares (RLS) utilized estimate real-time ratio variations four driving wheels conduct corresponding control. speeds dynamically adjusted so OMWAGV can accurately follow predetermined motion trajectory. experimental results diagonally moving cross-walking motions without showed that, calculating errors occurred during travel, distances between original starting position stopping dramatically reduced 1.52 m 0.03 1.56 m, respectively. higher accuracy proposed verifies effectiveness validness.