公开(公告)号：WO2021121537A1

公开(公告)日：2021-06-24

申请号：PCT/EP2019/085210

申请日：2019-12-15

Applicant: ROMB TECHNOLOGIES D.O.O.

Inventor： KOKOT, Mirko ,  MIKLIC, Damjan

IPC: G05D1/02 ,  B62D15/02 ,  G05D1/0223 ,  G05D2201/0216

Abstract: A control method for automated guided vehicles (AGV) is disclosed. It consists of the following steps: adaptive sampling of the path given as the parametric curve C(u); computing the velocity limits at critical velocity profile points; planning optimal steering angle and traction velocity profiles for the wheels; adaptation of sample time Ts and prediction horizon lengths N for model predictive control; projecting the current vehicle pose onto its closest point along the desired path; computation of the linearized models for prediction horizon, cast to quadratic program (QP); solving QP to obtain velocity and steering angle setpoint offsets; then velocity and steering angle setpoint offsets are superimposed on the nominal trajectory values, driving the tracking errors to zero; a new control cycle begins by updating the vehicle state measurements from onboard AGV set of sensors taking into account whether path is appended or not and safety changes if any.

公开(公告)号：EP4073608A1

公开(公告)日：2022-10-19

申请号：EP19828647.8

申请日：2019-12-15

Applicant: RoMb Technologies d.o.o.

Inventor： KOKOT, Mirko ,  MIKLIC, Damjan

IPC: G05D1/02 ,  B62D15/02