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 proceedingConference contributionAcademicpeer-review

9 Citations (Scopus)
84 Downloads (Pure)


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 languageEnglish
Title of host publicationProceedings of the IEEE Intelligent Vehicles Symposium (IV'02), 18-20 June 2002, Versailles, France
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)0-7803-7346-4
Publication statusPublished - 2002
Externally publishedYes
Eventconference; IEEE Intelligent Vehicles Symposium (IV'02); 2002-06-18; 2002-06-20 -
Duration: 18 Jun 200220 Jun 2002


Conferenceconference; IEEE Intelligent Vehicles Symposium (IV'02); 2002-06-18; 2002-06-20
OtherIEEE Intelligent Vehicles Symposium (IV'02)


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