Centralized Control Architecture for Cooperative Object Transportation using Multiple Omnidirectional AGVs

Abstract

This paper addresses the problem of cooperative transportation using multiple omnidirectional Automated Guided Vehicles (AGVs). To enhance flexibility and application potentials, mecanum-wheeled platform is considered for the proposed multi-AGV system while the cooperative transportation is executed without physical link/gripper to fix the object on the AGVs. Therefore, the position and number of AGV is adjustable depending on the size and weight of the transported object. Analysis of force distribution to each AGV during cooperative transportation is presented. Furthermore, the gradient projection method is exploited to regulate internal force according to the operational capability of each AGV. Moreover, an adaptive sliding mode controller is designed for AGV to cope with dynamic uncertainty during cooperative transportation. Stability of the proposed controller is proven by using Lyapunov Theorem. Finally, numerical simulation is presented to demonstrate the performance of the proposed control system.