AGV position and heading controller
Number of patents in Portfolio can not be more than 2000
United States of America Patent
Stats
-
Apr 13, 2004
Grant Date -
Nov 7, 2002
app pub date -
May 7, 2002
filing date -
May 7, 2001
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A method and apparatus for controlling the steering of an automatic guided vehicle (AGV) includes simultaneously correcting the vehicle's heading and position errors. The vehicle may include first and second steering control loops that determine the vehicle's position and heading errors, respectively. Separate commands are generated from these control loops to steer the vehicle in a manner that tends to reduce these errors. The vehicle may include a forward and a rearward pair of wheels. For correcting position errors, the first control loop issues the same steering command to both the forward and rearward pair of wheels. For correcting heading errors, the second control loop issues a steering command to the rearward pair of wheels that is summed together with the first control loop's steering command prior to being applied to the rearward pair of wheels.
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