Validación del modelo de un vehículo autónomo guiado mediante un controlador inteligente

  1. Argente Mena, Javier 1
  2. Sierra Garcia, Jesus Enrique 2
  3. Santos Peña, Matilde 3
  1. 1 Facultad de Informática, Universidad Complutense de Madrid
  2. 2 a:1:{s:5:"es_ES";s:21:"Universidad de Burgos";}
  3. 3 Universidad Complutense de Madrid
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    Universidad Complutense de Madrid

    Madrid, España

    ROR 02p0gd045

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Revista:
Jornadas de Automática
  1. Cruz Martín, Ana María (coord.)
  2. Arévalo Espejo, V. (coord.)
  3. Fernández Lozano, Juan Jesús (coord.)

ISSN: 3045-4093

Año de publicación: 2024

Número: 45

Tipo: Artículo

DOI: 10.17979/JA-CEA.2024.45.10910 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Resumen

In this work a conventional control, which has been tuned using a heuristic strategy, is applied to a model of an Automated Guided Vehicle (AGV). The dynamic model of the AGV has been extended by including the modeling of the motors, and the causality of the equations has been identified to facilitate its computational implementation. The genetic algorithm (GA) cost function used to adjust the trajectory tracking controller parameters has been defined based on two criteria: tracking error and penalizing the aggressiveness of the control action. By means of simulation it has been tested, on a sinusoidal trajectory, that the implemented control scheme, both speed and navigation, work correctly.

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Fuente de los datos: Dialnet