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Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant

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

Authors

In this chapter, we discuss the design of a unique drive system that can achieve omnidirectional holonomic motion on a large-scale industrial AGV. The AGV achieves both self-navigation and omnidirectional capabilities through the use of a novel form of swerve drive. This novel serve drive makes use of two powered wheels and two unpowered casters to achieve omnidirectional holonomic motion. This “two-wheeled” approach is unique on an industrially compliant AGV.

Original languageEnglish
Title of host publicationModeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
EditorsPaolo Mercorelli, Weicun Zhang, Hamidreza Nemati, YuMing Zhang
Number of pages18
PublisherAcademic Press Inc.
Publication date01.01.2024
Pages151-168
ISBN (print)9780323952088
ISBN (electronic)9780323952071
DOIs
Publication statusPublished - 01.01.2024

Bibliographical note

Publisher Copyright:
© 2024 Elsevier Inc. All rights reserved.

    Research areas

  • AGC, AGV, Automated Guided Vehicles, Holonomic Vehicle, Omni-directional Vehicle, Powered Castors, Swerve Drive
  • Engineering

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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

Dynamic Performance Analysis and Fault Ride-Through Enhancement by a Modified Fault Current Protection Scheme of a Grid-Connected Doubly Fed Induction Generator

Talani, R. A., Kaloi, G. S., Ali, A., Bijarani, M. A., Abbas, G., Hatatah, M., Mercorelli, P. & Touti, E., 02.2025, In: Machines. 13, 2, 20 p., 110.

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

Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control

Zwerger, T. & Mercorelli, P., 01.02.2025, In: Mathematics and Computers in Simulation. 228, p. 178-201 24 p.

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

Mathematics in Robot Control for Theoretical and Applied Problems

Mercorelli, P. (Editor), Sergiyenko, O. Y. (Editor) & Tsymbal, O. (Editor), 22.04.2025, Basel: MDPI AG. 296 p. (Mathematics)

Research output: Books and anthologies › Collected editions and anthologies › Research

DOI

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