Control system strategy of a modular omnidirectional AGV
Research output: Contributions to collected editions/works › Chapter › peer-review
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Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. ed. / Paolo Marcorelli; Weicun Zhang; Hamidreza Nemati; YuMing Zhang. Academic Press Inc., 2024. p. 169-197.
Research output: Contributions to collected editions/works › Chapter › peer-review
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TY - CHAP
T1 - Control system strategy of a modular omnidirectional AGV
AU - Macfarlane, Alexander B.S.
AU - van Niekerk, Theo
AU - Becker, Udo
AU - Mercorelli, Paolo
N1 - Publisher Copyright: © 2024 Elsevier Inc. All rights reserved.
PY - 2024/1/1
Y1 - 2024/1/1
N2 - The design and theoretical justification of a two-wheel swerve drive system was discussed in Chapter 1. This chapter focuses on validating the previously discussed design to determine its viability in the “real world”. To achieve this goal, a set of tests was developed and their reasoning discussed. The results of these tests were used to validate the novel swerve drive system and prove its holonomic omnidirectional capabilities. Shortfalls of this system were identified, and possible mitigations were discussed for implementation on future generations of this system.
AB - The design and theoretical justification of a two-wheel swerve drive system was discussed in Chapter 1. This chapter focuses on validating the previously discussed design to determine its viability in the “real world”. To achieve this goal, a set of tests was developed and their reasoning discussed. The results of these tests were used to validate the novel swerve drive system and prove its holonomic omnidirectional capabilities. Shortfalls of this system were identified, and possible mitigations were discussed for implementation on future generations of this system.
KW - AGC
KW - AGV
KW - Automated Guided Vehicle
KW - Castor Drive
KW - Castor Kinematics
KW - Holonomic Vehicle
KW - Omni-directional Vehicle
KW - Swerve Drive
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85187264872&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/44e0049f-e481-37c4-ab16-b7ab1180c02c/
U2 - 10.1016/b978-0-32-395207-1.00019-6
DO - 10.1016/b978-0-32-395207-1.00019-6
M3 - Chapter
AN - SCOPUS:85187264872
SN - 9780323952088
SP - 169
EP - 197
BT - Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
A2 - Marcorelli, Paolo
A2 - Zhang, Weicun
A2 - Nemati, Hamidreza
A2 - Zhang, YuMing
PB - Academic Press Inc.
ER -