ATS/AGV : design, implementation and evaluation of a high performance AGV

J. Ploeg; A.C.M. Knaap, van der; D.J. Verburg

doi:10.1109/IVS.2002.1187940

ATS/AGV : design, implementation and evaluation of a high performance AGV

J. Ploeg, A.C.M. Knaap, van der, D.J. Verburg

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

12 Citations (Scopus)

202 Downloads (Pure)

Abstract

Within the framework of a full scale hardware-in-the-loop intelligent vehicle simulator called VEHIL, an automatic guided vehicle is developed in order to simulate traffic participants. This vehicle, called ATS/AGV, is based on a four wheel drive and four wheel steer concept which allows for a high handling performance in combination with the ability to carry out very complex manoeuvres. A structured design methodology appears to be essential to a cost and time effective design and technical specification of the AGV. This design methodology is strongly based on a dynamic model of the AGV which incorporates essential dynamics and nonlinearities, the latter mainly arising from the tyre-road contact behaviour. The other important aspect is the application often rig experiments. Within this design methodology, the development of the path control system takes place in an early stage and is carried out in close cooperation with the mechanical hardware specification. This makes the AGV a truly mechatronic product. Experiments show that ATS/AGV is capable of executing complex manoeuvres with a high dynamic performance.

Original language	English
Title of host publication	Proceedings of the IEEE Intelligent Vehicles Symposium (IV'02), 18-20 June 2002, Versailles, France
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	127-134
ISBN (Print)	0-7803-7346-4
DOIs	https://doi.org/10.1109/IVS.2002.1187940
Publication status	Published - 2002
Externally published	Yes
Event	2002 IEEE Intelligent Vehicles Symposium, IV 2002 - Versailles, France Duration: 17 Jun 2002 → 21 Jun 2002

Conference

Conference	2002 IEEE Intelligent Vehicles Symposium, IV 2002
Abbreviated title	IV 2002
Country/Territory	France
City	Versailles
Period	17/06/02 → 21/06/02
Other	IEEE Intelligent Vehicles Symposium

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10.1109/IVS.2002.1187940

Ploeg_2002_ATSAGV_Design_Implementation_and_Evaluation_of_a_High_Performance_AGVFinal author version , 779 KB

Cite this

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title = "ATS/AGV : design, implementation and evaluation of a high performance AGV",

abstract = "Within the framework of a full scale hardware-in-the-loop intelligent vehicle simulator called VEHIL, an automatic guided vehicle is developed in order to simulate traffic participants. This vehicle, called ATS/AGV, is based on a four wheel drive and four wheel steer concept which allows for a high handling performance in combination with the ability to carry out very complex manoeuvres. A structured design methodology appears to be essential to a cost and time effective design and technical specification of the AGV. This design methodology is strongly based on a dynamic model of the AGV which incorporates essential dynamics and nonlinearities, the latter mainly arising from the tyre-road contact behaviour. The other important aspect is the application often rig experiments. Within this design methodology, the development of the path control system takes place in an early stage and is carried out in close cooperation with the mechanical hardware specification. This makes the AGV a truly mechatronic product. Experiments show that ATS/AGV is capable of executing complex manoeuvres with a high dynamic performance.",

author = "J. Ploeg and {Knaap, van der}, A.C.M. and D.J. Verburg",

year = "2002",

doi = "10.1109/IVS.2002.1187940",

language = "English",

isbn = "0-7803-7346-4",

pages = "127--134",

booktitle = "Proceedings of the IEEE Intelligent Vehicles Symposium (IV'02), 18-20 June 2002, Versailles, France",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2002 IEEE Intelligent Vehicles Symposium, IV 2002, IV 2002 ; Conference date: 17-06-2002 Through 21-06-2002",

}

Ploeg, J, Knaap, van der, ACM & Verburg, DJ 2002, ATS/AGV : design, implementation and evaluation of a high performance AGV. in Proceedings of the IEEE Intelligent Vehicles Symposium (IV'02), 18-20 June 2002, Versailles, France. Institute of Electrical and Electronics Engineers, Piscataway, pp. 127-134, 2002 IEEE Intelligent Vehicles Symposium, IV 2002, Versailles, France, 17/06/02. https://doi.org/10.1109/IVS.2002.1187940

ATS/AGV : design, implementation and evaluation of a high performance AGV. / Ploeg, J.; Knaap, van der, A.C.M.; Verburg, D.J.
Proceedings of the IEEE Intelligent Vehicles Symposium (IV'02), 18-20 June 2002, Versailles, France. Piscataway: Institute of Electrical and Electronics Engineers, 2002. p. 127-134.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Knaap, van der, A.C.M.

AU - Verburg, D.J.

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N2 - Within the framework of a full scale hardware-in-the-loop intelligent vehicle simulator called VEHIL, an automatic guided vehicle is developed in order to simulate traffic participants. This vehicle, called ATS/AGV, is based on a four wheel drive and four wheel steer concept which allows for a high handling performance in combination with the ability to carry out very complex manoeuvres. A structured design methodology appears to be essential to a cost and time effective design and technical specification of the AGV. This design methodology is strongly based on a dynamic model of the AGV which incorporates essential dynamics and nonlinearities, the latter mainly arising from the tyre-road contact behaviour. The other important aspect is the application often rig experiments. Within this design methodology, the development of the path control system takes place in an early stage and is carried out in close cooperation with the mechanical hardware specification. This makes the AGV a truly mechatronic product. Experiments show that ATS/AGV is capable of executing complex manoeuvres with a high dynamic performance.

AB - Within the framework of a full scale hardware-in-the-loop intelligent vehicle simulator called VEHIL, an automatic guided vehicle is developed in order to simulate traffic participants. This vehicle, called ATS/AGV, is based on a four wheel drive and four wheel steer concept which allows for a high handling performance in combination with the ability to carry out very complex manoeuvres. A structured design methodology appears to be essential to a cost and time effective design and technical specification of the AGV. This design methodology is strongly based on a dynamic model of the AGV which incorporates essential dynamics and nonlinearities, the latter mainly arising from the tyre-road contact behaviour. The other important aspect is the application often rig experiments. Within this design methodology, the development of the path control system takes place in an early stage and is carried out in close cooperation with the mechanical hardware specification. This makes the AGV a truly mechatronic product. Experiments show that ATS/AGV is capable of executing complex manoeuvres with a high dynamic performance.

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BT - Proceedings of the IEEE Intelligent Vehicles Symposium (IV'02), 18-20 June 2002, Versailles, France

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ER -

ATS/AGV : design, implementation and evaluation of a high performance AGV

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