NDLI: Trajectory tracking and fault detection algorithm for automatic guided vehicle based on multiple positioning modules

Content Provider	Springer Nature Link
Author	Pratama, Pandu Sandi Gulakari, Amruta Vinod Setiawan, Yuhanes Dedy Kim, Dae Hwan Kim, Hak Kyeong Kim, Sang Bong
Copyright Year	2016
Abstract	This paper presents an implementation and experimental validation of trajectory tracking and fault detection algorithm for sensors and actuators of Automatic Guided Vehicle (AGV) system based on multiple positioning modules. Firstly, the system description and the mathematical modeling of the differential drive AGV system are described. Secondly, a trajectory tracking controller based on the backstepping method is proposed to track the given trajectory. Thirdly, a fault detection algorithm based on the multiple positioning modules is proposed. The AGV uses encoders, laser scanner, and laser navigation system to obtain the position information. To understand the characteristics of each positioning module, their modeling are explained. The fault detection method uses two or more positioning systems and compares them using Extended Kalman Filter (EKF) to detect an unexpected deviation effected by fault. The pairwise differences between the estimated positions obtained from the sensors are called as residue. When the faults occur, the residue value is greater than the threshold value. Fault isolation is obtained by examining the biggest residue. Finally, to demonstrate the capability of the proposed algorithm, it is applied to the differential drive AGV system. The simulation and experimental results show that the proposed algorithm successfully detects the faults when the faults occur.
Starting Page	400
Ending Page	410
Page Count	11
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	14
Issue Number	2
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2016-04-15
Publisher Place	Bucheon, Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Automatic guided vehicle extended Kalman filter fault detection multiple positioning Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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