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Optimal steering control of an auto-guided-vehicle with two motored wheels

An optimal control procedure is presented for steering an Auto-Guided- Vehicle (AGV) which has two motored wheels on its left and right side. Steering, running and stopping are enabled by controlling the motor speed independently. An optimal proportional-plus-integral control is employed to eliminate steady-state error which is sustained by a simple proportional control for tracking a circular path. A simple and readily-implemented suboptimal control is also examined. The suboptimal control gives comparable performance and therefore provides an effective approach for industrial application of the AGV. Effects of design parameters of the AGV such as forward velocity, wheel radius and position of sensor are investigated. It is shown that within the practicable values the controlled performance improves rapidly but with an increase of those parameters then the improvement becomes negligible, which suggests base values for the parameters.