Mechatronic modelling of industrial AGVs: a complex system architecture

Automatic guided vehicles (AGVs) are unmanned transport vehicles widely used in the industry to substitute manned industrial trucks and conveyors. They are now considered to play a key role in the development of the Industry 4.0 due to their temporal and spatial flexibility. However, in order to dea...

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Detalles Bibliográficos
Autores: Sierra-García, Jesús Enrique, Santos Peñas, Matilde
Tipo de recurso: artículo
Fecha de publicación:2020
País:España
Institución:Universidad Complutense de Madrid (UCM)
Repositorio:Docta Complutense
Idioma:inglés
OAI Identifier:oai:docta.ucm.es:20.500.14352/112249
Acceso en línea:https://hdl.handle.net/20.500.14352/112249
Access Level:acceso abierto
Palabra clave:Modelling
Automated guided vehicle (AGV)
Mechatronic
Física-Modelos matemáticos
3311.02 Ingeniería de Control
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spelling Mechatronic modelling of industrial AGVs: a complex system architectureSierra-García, Jesús EnriqueSantos Peñas, MatildeModellingAutomated guided vehicle (AGV)MechatronicFísica-Modelos matemáticos3311.02 Ingeniería de ControlAutomatic guided vehicles (AGVs) are unmanned transport vehicles widely used in the industry to substitute manned industrial trucks and conveyors. They are now considered to play a key role in the development of the Industry 4.0 due to their temporal and spatial flexibility. However, in order to deal with the AGV as a potential mobile robot with high capacities and certain level of intelligence, it is necessary to develop control-oriented models of these complex and nonlinear systems. In this paper, the modelling of this vehicle as a whole is addressed. It can be considered composed of several interrelated subsystems: control, safety, driving, guiding and localization, power storage, and charging systems. The kinematics equations of a tricycle vehicle are obtained, and a controller is proposed. An extended hybrid automata formalism is used to define the behaviour of the safety and the control systems, as well as their interaction. In addition, the electrical equivalent circuit of the batteries, charger, and the motors is studied. The architecture of the holistic model is presented. Simulation results of the AGV in a workspace scenario validate the model and prove the efficiency of this approach.WileyUniversidad Complutense de Madrid20202020-01-0120202020-01-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/20.500.14352/112249reponame:Docta Complutenseinstname:Universidad Complutense de Madrid (UCM)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:docta.ucm.es:20.500.14352/1122492026-06-02T12:44:21Z
dc.title.none.fl_str_mv Mechatronic modelling of industrial AGVs: a complex system architecture
title Mechatronic modelling of industrial AGVs: a complex system architecture
spellingShingle Mechatronic modelling of industrial AGVs: a complex system architecture
Sierra-García, Jesús Enrique
Modelling
Automated guided vehicle (AGV)
Mechatronic
Física-Modelos matemáticos
3311.02 Ingeniería de Control
title_short Mechatronic modelling of industrial AGVs: a complex system architecture
title_full Mechatronic modelling of industrial AGVs: a complex system architecture
title_fullStr Mechatronic modelling of industrial AGVs: a complex system architecture
title_full_unstemmed Mechatronic modelling of industrial AGVs: a complex system architecture
title_sort Mechatronic modelling of industrial AGVs: a complex system architecture
dc.creator.none.fl_str_mv Sierra-García, Jesús Enrique
Santos Peñas, Matilde
author Sierra-García, Jesús Enrique
author_facet Sierra-García, Jesús Enrique
Santos Peñas, Matilde
author_role author
author2 Santos Peñas, Matilde
author2_role author
dc.contributor.none.fl_str_mv Universidad Complutense de Madrid
dc.subject.none.fl_str_mv Modelling
Automated guided vehicle (AGV)
Mechatronic
Física-Modelos matemáticos
3311.02 Ingeniería de Control
topic Modelling
Automated guided vehicle (AGV)
Mechatronic
Física-Modelos matemáticos
3311.02 Ingeniería de Control
description Automatic guided vehicles (AGVs) are unmanned transport vehicles widely used in the industry to substitute manned industrial trucks and conveyors. They are now considered to play a key role in the development of the Industry 4.0 due to their temporal and spatial flexibility. However, in order to deal with the AGV as a potential mobile robot with high capacities and certain level of intelligence, it is necessary to develop control-oriented models of these complex and nonlinear systems. In this paper, the modelling of this vehicle as a whole is addressed. It can be considered composed of several interrelated subsystems: control, safety, driving, guiding and localization, power storage, and charging systems. The kinematics equations of a tricycle vehicle are obtained, and a controller is proposed. An extended hybrid automata formalism is used to define the behaviour of the safety and the control systems, as well as their interaction. In addition, the electrical equivalent circuit of the batteries, charger, and the motors is studied. The architecture of the holistic model is presented. Simulation results of the AGV in a workspace scenario validate the model and prove the efficiency of this approach.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-01-01
2020
2020-01-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14352/112249
url https://hdl.handle.net/20.500.14352/112249
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Wiley
publisher.none.fl_str_mv Wiley
dc.source.none.fl_str_mv reponame:Docta Complutense
instname:Universidad Complutense de Madrid (UCM)
instname_str Universidad Complutense de Madrid (UCM)
reponame_str Docta Complutense
collection Docta Complutense
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.81155

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