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Control system strategy of a modular omnidirectional AGV

Research output: Contributions to collected editions/works › Chapter › peer-review

Standard

Control system strategy of a modular omnidirectional AGV. / Macfarlane, Alexander B.S.; van Niekerk, Theo; Becker, Udo et al.
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

Harvard

Macfarlane, ABS, van Niekerk, T, Becker, U & Mercorelli, P 2024, Control system strategy of a modular omnidirectional AGV. in P Marcorelli, W Zhang, H Nemati & Y Zhang (eds), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Academic Press Inc., pp. 169-197. https://doi.org/10.1016/b978-0-32-395207-1.00019-6

APA

Macfarlane, A. B. S., van Niekerk, T., Becker, U., & Mercorelli, P. (2024). Control system strategy of a modular omnidirectional AGV. In P. Marcorelli, W. Zhang, H. Nemati, & Y. Zhang (Eds.), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0 (pp. 169-197). Academic Press Inc.. https://doi.org/10.1016/b978-0-32-395207-1.00019-6

Vancouver

Macfarlane ABS, van Niekerk T, Becker U, Mercorelli P. Control system strategy of a modular omnidirectional AGV. In Marcorelli P, Zhang W, Nemati H, Zhang Y, editors, Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Academic Press Inc. 2024. p. 169-197 doi: 10.1016/b978-0-32-395207-1.00019-6

Bibtex

@inbook{2f44a3b3046544d9b2b540ee35de4cf4,
title = "Control system strategy of a modular omnidirectional AGV",
abstract = "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.",
keywords = "AGC, AGV, Automated Guided Vehicle, Castor Drive, Castor Kinematics, Holonomic Vehicle, Omni-directional Vehicle, Swerve Drive, Engineering",
author = "Macfarlane, {Alexander B.S.} and {van Niekerk}, Theo and Udo Becker and Paolo Mercorelli",
note = "Publisher Copyright: {\textcopyright} 2024 Elsevier Inc. All rights reserved.",
year = "2024",
month = jan,
day = "1",
doi = "10.1016/b978-0-32-395207-1.00019-6",
language = "English",
isbn = "9780323952088",
pages = "169--197",
editor = "Paolo Marcorelli and Weicun Zhang and Hamidreza Nemati and YuMing Zhang",
booktitle = "Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0",
publisher = "Academic Press Inc.",
address = "United States",

}

RIS

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 -

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Advancing Sustainability and Productivity: The Role of Precision Agriculture in Vineyards and Olive Groves

Fernandes, F. M., Dos Santos, M. F., De Morais, M. H. F., Lima, J., Pereira, A. I. & Mercorelli, P., 2025, Proceedings of the 2025 26th International Carpathian Control Conference (ICCC): Grandhotel Starý Smokovec, High Tatras, Starý Smokovec, Slovak Republic, 19-21 May 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Piscataway: Institute of Electrical and Electronics Engineers Inc., 6 p. (International Carpathian Control Conference, ICCC; vol. 26).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

A Fluid Elastomeric Actuator Design for Soft Robots

Els, D., van Niekerk, T., Mercorelli, P. & Welgemoed, J., 09.2025, In: Actuators. 14, 9, 14 p., 417.

Research output: Journal contributions › Journal articles › Research › peer-review

An innovative efficiency of incubator to enhance organization supportive business using machine learning approach

Li, X., Zhang, Q., Gu, H., Othmen, S., Asklany, S., Lhioui, C., Elrashidi, A. & Mercorelli, P., 07.2025, In: PLoS ONE. 20, 7, 22 p., e0327249.

Research output: Journal contributions › Journal articles › Research › peer-review

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.

Research output: Journal contributions › Journal articles › Research › peer-review

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, In: IEEE Open Journal of Power Electronics. 6, p. 734-746 13 p.

Research output: Journal contributions › Journal articles › Research › peer-review

DOI

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