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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

Standard

Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. / 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 Mercorelli; Weicun Zhang; Hamidreza Nemati; YuMing Zhang. Academic Press Inc., 2024. p. 151-168.

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

Harvard

Macfarlane, ABS, van Niekerk, T, Becker, U & Mercorelli, P 2024, Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. in P Mercorelli, W Zhang, H Nemati & Y Zhang (eds), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Academic Press Inc., pp. 151-168. https://doi.org/10.1016/b978-0-32-395207-1.00018-4

APA

Macfarlane, A. B. S., van Niekerk, T., Becker, U., & Mercorelli, P. (2024). Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. In P. Mercorelli, W. Zhang, H. Nemati, & Y. Zhang (Eds.), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0 (pp. 151-168). Academic Press Inc.. https://doi.org/10.1016/b978-0-32-395207-1.00018-4

Vancouver

Macfarlane ABS, van Niekerk T, Becker U, Mercorelli P. Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant. In Mercorelli 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. 151-168 doi: 10.1016/b978-0-32-395207-1.00018-4

Bibtex

@inbook{293eaa9c46d748b9a2c01a768c0089ae,
title = "Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant",
abstract = "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.",
keywords = "AGC, AGV, Automated Guided Vehicles, Holonomic Vehicle, Omni-directional Vehicle, Powered Castors, 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/b978-0-32-395207-1.00018-4",
language = "English",
isbn = "9780323952088",
pages = "151--168",
editor = "Paolo Mercorelli 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 - Modeling a modular omnidirectional AGV developmental platform with integrated suspension and power-plant

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 - 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.

AB - 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.

KW - AGC

KW - AGV

KW - Automated Guided Vehicles

KW - Holonomic Vehicle

KW - Omni-directional Vehicle

KW - Powered Castors

KW - Swerve Drive

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85189599631&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/cd4c4338-2a96-364d-a996-0e4c501aedf7/

U2 - 10.1016/b978-0-32-395207-1.00018-4

DO - 10.1016/b978-0-32-395207-1.00018-4

M3 - Chapter

AN - SCOPUS:85189599631

SN - 9780323952088

SP - 151

EP - 168

BT - Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0

A2 - Mercorelli, Paolo

A2 - Zhang, Weicun

A2 - Nemati, Hamidreza

A2 - Zhang, YuMing

PB - Academic Press Inc.

ER -

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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

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