Open Access Open Access  Restricted Access Subscription or Fee Access

Control Architecture of an Autonomous Material Handling Vehicle

Augie Widyotriatmo, Anugrah K. Pamosoaji, Keum-Shik Hong

Abstract


In this paper, a control architecture that integrates path planning and motion control of an autonomous material handling vehicle is proposed. The three-layer architecture (deliberative, sequencing, and reflexive layers) is adopted. The deliberative layer plans a series of control actions for accomplishing tasks, the sequencing layer regulates the sequence of control modules and supervises the change of plan, and the reflexive layer collects sensory data and controls a specific motion. The control algorithms, which are derived considering sensor, environment, and kinematic constraints of the autonomous vehicle, assure the robustness against uncertainties as well as the safety during the motion. A finite state machine (FSM) that regulates the excecution of the planning and various control algorithms is proposed. The experimental results of a forklift transporting a pallet from an initial to a desired goal configuration demonstrate the effectiveness of the proposed control architecture.

Keywords


Autonomous vehicle, forklift, control architecture, path planning, motion control.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.