Hội Cơ điện tử Việt Nam

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Chương trình Nghiên cứu Ứng dụng và Phát triển Công
nghệ Cơ khí -Tự động hóa KC-03

Tuyển tập Công trình khoa học Hội nghị Cơ điện tử

Toàn quốc lần thứ 7 (VCM-2014)
Đồng Nai, ngày 21 - 22/11/2014

Nhà xuất bản Khoa học Tự nhiên và Công nghệ

 Tuyển tập Công trình khoa học Hội nghị Cơ điện tử
Toàn quốc lần thứ 7 (VCM-2014)

ISBN: 978-604-913-306-0.

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Địa chỉ: Nhà A16, số 18, đường Hoàng Quốc Việt, Cầu Giấy, Hà Nội
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Dinh Tuyen Nguyen, Van Nho Nguyen, Thanh Vu Tran and Van Vui Nguyen.
Thiết kế và điều khiển bộ nguồn 400 Hz công suất lớn cho máy bay........................................... 514
Tăng Quốc Nam and Nguyễn Bá Đại.
The motion control system of the assistive robot for people with movement disability. ............. 521
Le Ngoc Thanh Ha, Thanh Tung Luu, Thien Phuc Tran, Tan Tien Nguyen and Hoang Thai Son
Nguyen.
Study on an Automation Solution for Glue Painting on Shoe Sole. ............................................. 528
Nguyễn Vũ Quỳnh and Trần Hoàng Trung.
Design and Fabricate the Robot Tennis. ....................................................................................... 536
Pham The Hung.
Diagnostic of locomotion for off-road mobile robot. .................................................................... 541
Nghìn Đặng Văn, Thang Pham, Hà Thái Thị Thu and Dương Nguyễn Minh.
Giải mã công nghệ trong thiết kế hệ thống tạo mẫu nhanh lom.................................................... 549
Nghìn Đặng Văn, Thai Ha, Thang Pham, Dũng Trương Thế and Trung Quang Nhựt.
Thiết kế, chế tạo bộ khuôn kênh dẫn nóng cho chi tiết bánh răng. ............................................... 555
Phạm Bảo Toàn and Nguyễn Ngọc Hải.
Đánh giá tình trạng khuyết tật của cấu trúc dầm bằng phân tích wavelet và phổ năng lượng tín
hiệu dao động tự do của dầm......................................................................................................... 562
Vũ Hồ Anh and Nghĩa Dương Hoài.
Control of doubly fed induction generator using internal model control. ..................................... 570
Nghìn Đặng Văn, Thang Pham, Tuấn Huỳnh Việt and Long Gia.
Giải mã công nghệ trong thiết kế chế tạo robot vượt địa hình. ..................................................... 575
Tuan Trinh Minh and Tien Nguyen Tan.
Researching and Designing Medical Bed for Obesity Patients..................................................... 583
Nghìn Đặng Văn, Đại Kiều Nguyễn Phương, Thai Ha and Thức Nguyễn Công.
Xây dựng thuật toán để xác định phương pháp đánh giá chất lượng của thiết bị cơ điện tử y
sinh. ............................................................................................................................................... 591
Huu Danh Lam, Tran Duc Hieu Le, Tan Tung Phan, Tan Tien Nguyen and Hoai Quoc Le.
Smooth Tracking Controller for AGV through Junction using CMU Camera. ............................ 597
Thanh Hung Tran, Quang Hieu Ngo and Quang Ha.
Điều khiển vị trí với bộ điều khiển trượt – PID. ........................................................................... 602
Chanh Nghiem Nguyen, Nhut Thanh Tran and Chi Ngon Nguyen.
Evaluation of low cost RTK-GPS accuracy for applications in the Mekong Delta. ..................... 608
Hội nghị Toàn quốc lần thứ 7 về Cơ điện tử - VCM-2014
Nghiên cứu thiết kế bộ điều khiển bám line cho AGV qua giao lộ
Smooth tracking controller for AGV through junction using CMU camera
Huu Danh Lam, Tran Duc Hieu Le, Tan Tung Phan and Tan Tien Nguyen
Hochiminh City University of Technology, Hochiminh City, Vietnam
Hoai Quoc Le
Saigon Hi-Tech Park, Vietnam
Email : nttien@hcmut.edu.vn
Tóm tắt
Bài báo đề xuất một dạng đường qua giao lộ cho
AGV sử dụng CMU camera. Sơ đồ tính toán sai số
cho AGV được trình bày. Mô hình hóa động học của
AGV được thiết lập, từ đó xây dựng bộ điều khiển
bền vững cho bài toán bám đường của AGV. Kết quả
mô phỏng chứng minh hiệu quả và tính khả thi của
phương pháp đề nghị.
Abstract
This paper suggests a new path pattern for junction
for AGV line tracking using CMU camera. The
scheme for calculation the tracking error with CMU
camera is introduced. The system modelling bases on
kinematic configuration is given to drive a robust
nonlinear controller for AGV line tracking. The
simulation is done to verify the effectiveness of the
proposed method.
1. Introduction
An automatic guided vehicle (AGV) is a mobile robot
that follows markers or wires in the floor, or uses
vision, magnets, or lasers for navigation. AGVs are
most often used in industrial applications to move
materials around a manufacturing facility or a
warehouse. The first AGV was invented by Barrett
Electronics in 1953. The AGV can tow objects behind
them (or store objects on a bed) in trailers to which
they can autonomously attach. AGVs are employed in
nearly every industry, including, pulp, paper, metals,
newspaper, and general manufacturing. Transporting
materials such as food, linen or medicine in hospitals
is also done.
There are several problems need to concern for design
an AGV, such as: navigation, path decision, traffic
control, system management, vehicle types,
applications, battery management, … There are
numbers of research relating to the design, control and
implementation of AGV. The whole picture of AGV
system can be seen in the work of Le Anh Tuan [4].
This paper studies on design or robust tracking
controller for AGV through junction using CMU
camera. First, a new path pattern for junction using
for AGV line tracking with CMU camera is
introduced. Then, the scheme for calculation the
tracking error with CMU camera is presented. The
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597
system modelling bases on kinematic configuration is
given to drive a robust nonlinear controller for AGV
line tracking. The simulation is done to verify the
effectiveness of the proposed method.
2. Problem Setting
2.1 AVG structure
The AGV using in this study is a conventional type of
mobile robot platform, which is driven by two driving
wheels as shown in the Fig.1.
Fig.1 AVG structure using in this paper
The tracking point is the center of AGV, it is also the
camera position. The center of AGV is the middle of
two driving wheels. Note that, the tracking point and
the AGV center is not coincide.
2.2 Path pattern
The conventional junction path patterns used for AGV
can be seen in the Fig.2. For the square-shaped
junction, the AGV will stop at the intersection, then
rotate in the desired direction. That means the AGV
speed is not continuous. To avoid this problem, the
arc-shaped junction is introduced. To follow these
path patterns, there are numerous of solutions. One of
the simplest way is using well known CMU camera. It
provides a vision capabilities to small embedded
systems in the form of an intelligent sensor. The
CMUcam open source programmable embedded color
vision sensors are low-cost, low-power sensors for
mobile robots. It can be used to do many different
kinds of on-board, real-time vision processing tasks.
However, for a complex junction such as crossroads
(Fig.2, a and b), the application of CMU is difficult.
To overcome this, this paper proposes a new junctions
for using with CMU camera as shown in the Fig.2.c.
The curve sections is added to provide the ability of
smooth tracking for mobile robot when the turn left or
right. The algorithm for tracking with CMU camera
will be stated in the section 4 of this paper.
DOI: 10.15625/VCM.2014-306
Hội nghị Toàn quốc lần thứ 7 về Cơ điện tử - VCM-2014 598

After some calculations, the error dynamics can be

derived as follows
a. Square-shaped junctions 𝑒̇1 𝑣𝑅 𝑐𝑜𝑠𝑒3 −1 𝑒2
𝑣
�𝑒̇2 � = � 𝑣𝑅 𝑠𝑖𝑛𝑒3 � + � 0 −𝑑 − 𝑒1 � � � (5)
𝜔𝑅 𝜔
𝑒̇3 0 −1
In the case the AGV moves to the reverse direction,
b. Arc-shaped junctions
the equation is still available with replace 𝑑 by −𝑑,
that means 𝑑 is positive or negative depending on the
moving direction of AGV.

3.2 Controller Design

Theorem: The system (5) is stabilized by the
following tracking controller
c. Proposed junctions 𝑣 = 𝑣𝑅 𝑐𝑜𝑠𝑒3 + 𝑘1 𝑒1
� (6)
Fig.2 Path patterns using for AGV tracking 𝜔 = 𝑘2 𝑣𝑅 𝑒2 + 𝜔𝑅 + 𝑘3 𝑠𝑖𝑛𝑒3
Proof
3. Controller design Choose the Lyapunov’s function
3.1 System modeling 1 1 1 − 𝑐𝑜𝑠𝑒3
𝑉 = 𝑒12 + 𝑒22 + ≥0
To drive the tracking controller for the proposed 2 2 𝑘2
junction, the system coordinate is introduce as in the where 𝑘1 , 𝑘2 , 𝑘3 are positive values.
following Fig.3. For both directional moving ability, Its derivative yields
two structures with different position of driving 𝑉̇ = 𝑒1 (𝑣𝑅 𝑐𝑜𝑠𝑒3 − 𝑣)
wheels are examined. 𝑠𝑖𝑛𝑒3
+ (𝑘2 𝑣𝑅 𝑒2 + 𝜔𝑅 − 𝜔)
𝑘2
The controller (6) leads to achieve the negative of 𝑉̇ .
That means the system (5) is stable with the tracking
controller (6) in the sense of Lyapunov’s stability, and
all tracking errors 𝑒1 , 𝑒2, 𝑒3 will be converged to zero
as 𝑡 → ∞.
In the tracking controller (6), when starting with
𝑣0 ≈ 𝑣𝑅 , the error 𝑒1 can be set to be zero (or small
enough to be ignored) resulting on the measuring
a. 𝑑 > 0 b. 𝑑 < 0 errors 𝑒2 , 𝑒3 as shown in the next section.
Fig.3 System coordinate for driving motion of equation with
different position of driving wheels 4. Measure tracking error with CMU
The dynamic equation of AGV
𝑥̇
camera
𝑐𝑜𝑠𝜑 0
𝑣 In this section, together with the proposed path
� 𝑦̇ � = � 𝑠𝑖𝑛𝜑 0� � � (1)
𝜔 patterns, the CMU camera is used for measuring the
𝜑̇ 0 1 tracking errors 𝑒2 , 𝑒3 .
where 𝑣, 𝜔 are the linear and angular velocities of
AGV.
The dynamic equation of tracking point 𝐶
𝑥̇ 𝐶 = 𝑥̇ − 𝑑𝑠𝑖𝑛𝜑𝜑̇
� 𝐶 = 𝑦̇ + 𝑑𝑐𝑜𝑠𝜑𝜑̇
𝑦̇ (2)
𝜑̇ 𝐶 = 𝜑̇
where 𝑑 is the distance from center of AGV to the
tracking point 𝐶 (also camera position).
The dynamic equation of reference point 𝑅
𝑥̇ 𝑅 = 𝑣𝑅 𝑐𝑜𝑠𝜑𝑅
� 𝑦̇ 𝑅 = 𝑣𝑅 𝑠𝑖𝑛𝜑𝑅 (3)
𝜑̇ 𝑅 = 𝜔𝑅
where 𝑣𝑅 is the desired velocity of AGV. Fig.4 Errors measuring scheme form CMU camera frame
The controller is designed for the tracking point 𝐶 to The CMU camera sensor outputs are the path
track the target point 𝑅 in the reference path with the captured frame and the center of captured path, from
desired velocity 𝑣𝑅 . To do this, let’s define the which we can calculate (𝑥1 , 𝑦1 ), (𝑥2 , 𝑦2 ) and (𝑥3 , 𝑦3 ).
tracking error as the following Then the errors can derived as follows
𝑒1 𝑐𝑜𝑠𝜑 𝑠𝑖𝑛𝜑 0 𝑥𝑅 − 𝑥𝐶 𝑒 = 𝑘(160 − 𝑥3 )
�𝑒2 � = �−𝑠𝑖𝑛𝜑 𝑐𝑜𝑠𝜑 0� � 𝑦𝑅 − 𝑦𝐶 � (4) � 2 (7)
𝑒3 ≈ 𝑘(𝑥2 − 𝑥1 − 𝑏/𝑘)/200
𝑒3 0 0 1 𝜑𝑅 − 𝜑𝐶 where 𝑘 is the conversion factor between the real
length and camera pixel.

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In case of multi-path (at the proposed crossroads), the

signal will be shifted with the designed color. Because
each line has the same width of 𝑏, the measured errors
can be modified as follows
𝑒 = 𝑘(160 − 𝑥3 ) ∓ 𝑏
� 2 (8)
𝑒3 ≈ 𝑘(𝑥2 − 𝑥1 − 𝑏/𝑘)/200

5. Simulation Results and Discussion

The proposed method is verified by the mean of
simulation. The AGV will be controlled using the
controller (6) with the tracking error calculated from
(8) for both tracking line as shown in the Fig.6.

b. Path following of AGV

a. The proposed tracking line b. Normal tracking line

Fig.6 Two cases of tracking line for simulation study

The parameters of AGV using in the simulation are

given in the Table.1
Table 1. The parameters using for simulation study
Name Value Unit
Width of AGV 350 𝑚𝑚
Length of AGV 230 𝑚𝑚 c. Wheels velocity as input AGV
Fig.7 Simulation results for proposed tracking method
Wheel diameter 70 𝑚𝑚
Wheel distance 220 𝑚𝑚
Width of the tracking line, 𝑏 5 𝑚𝑚
Curve radius of the tracking line 412 𝑚𝑚
AGV velocity, 𝑣𝑟 0.82 𝑚/𝑠
Distance from tracking point to 130 𝑚𝑚
AVG center, 𝑑

The simulation results are shown in the Fig.7 for the

proposed tracking method and Fig.8. for conventional
tracking.

a. Tracking error 𝑒𝑖

a. Tracking error 𝑒𝑖

b. Path following of AGV

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Hội nghị Toàn quốc lần thứ 7 về Cơ điện tử - VCM-2014
c. Wheels velocity as input AGV
Fig.7 Simulation results for normal tracking
From the results as shown in the Fig.6.a and Fig. 7.a,
the tracking errors 𝑒𝑖 are almost the same for both
case of tracking lines, except at the shifting tracking
point between straight and curve line (near 1𝑠 and
1.8𝑠). At this point, the control inputs (driving motor
speed) was required higher for keeping AGV to
follow the reference line as shown in the Fig.6.b and
Fig.7.b. In both cases, the AGV can track the
reference line robustly as shown in the Fig.6.c and
Fig.7.c.
6. Conclusion
This paper presents the studies on design or robust
tracking controller for AGV through junction using
CMU camera. This is a part of the Restaurant Service
Robot Project, which is studying at HiTech
Mechatronics Lab. at Hochiminh City University of
Technology. A new path pattern for junction using for
AGV line tracking with CMU camera is introduced.
The scheme for calculation the tracking error with
CMU camera is presented. The system modelling
bases on kinematic configuration is given to drive a
robust nonlinear controller for AGV line tracking.
The simulation results prove that the proposed method
can be used for control the AGV through complex
junction with CMU camera. The experiment is
studying and we do hope it will be further proof for
the proposed method.
Tài liệu tham khảo
[1] Wu Xing et. al., Intersection Recognition and
Guide-path Selection for a Vision-based AGV in a
Bidirectional Flow Network, Int’l Journal of
Advanced Robotic Systems, DOI: 10.5772/58218,
pp. 1-17, 2014.
[2] M. Sharma, Control Classification of Automated
Guided Vehicle Systems, Int’l Journal of
Engineering and Advanced Technology (IJEAT),
Vol.2, Issue.1, pp.2249–8958, 2012.
[3] P.T. Doan, et. al., Path Tracking Control of
Automated Guided Vehicle Using Camera Sensor,
Proc. of The 2011 Int’l Symposium on
Automotive and Convergence Engineering, pp.
89-94, Vietnam, January 19-21, 2011
[4] T.L. Anh et. al., A Review of Design and Control
of Automated Guided Vehicle Systems. European
Journal of Operational Research, Vol. 171, Issue
1, pp.1-23, 2006.
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600
[5] T.T. Nguyen et. al., Tracking Control of a Spot
Bead Welding Mobile Robot Using Camera
Sensor, Proc. of The 2003 International
Symposium on Advanced Engineering (ISAE’03),
Pusan, Korea, pp. 408-414, November 2003
[6] T.L. Chung et. al., A Chattering-Free Sliding
Mode Control of Two-Wheeled Welding Mobile
Robot for Tracking Smooth Curved Welding Path,
Proc. of The Int’l Symposium on Mechatronics’03
(ISM’03), Hochiminh City, Vietnam, pp. 1-8,
September 2003
[7] T.L. Chung et. al., Backstepping-Based Nonlinear
Controller of a Two-Wheeled Mobile Robot
Tracking Smooth Curved using USB Camera,
Proc. of The Int’l Symposium on Mechatronics’03
(ISM’03), Hochiminh City, Vietnam, pp. 39-45,
September 2003.
[8] T.H. Bui et. al., Nonlinear Adaptive Control for
Tracking Trajectory of a Two-Wheeled Welding
Mobile Robot, Proc. of The Int’l Symposium on
Mechatronics’03 (ISM’03), Hochiminh City,
Vietnam, pp. 120-125, September 2003.
[9] T.L. Chung et. al., Control of Two-Wheeled
Mobile Robot Tracking Complicated Curvature
Wall, Proc. of the Korean Society for Power
System Engineering 2002 Spring Annual Meeting
(KSPSE’2002), Cheju, Korea, pp. 196-202, May
10-11, 2002.
Lam Huu Danh was born in Viet
Nam on October 30, 1979. He
received the B.S degrees from
Faculty of Mechanical Engineering,
Ho Chi Minh City University of
Technology (HCMUT), Viet Nam
in 2001. He received the M.S
degrees from Faculty of
Information, Media and Electrical Engineering,
Cologne University of Applied Sciences, Germany on
October, 2008. He works at Saigon Port, Ho Chi
Minh City, Viet Nam. His research Interests are
Automation and Optimization method including
industrial applications.
Tran Duc Hieu Le was born in Viet
Nam on May 25th, 1986. She is M.S.
student at the Department of
Mechatronics at HCMUT. Her
interests is mobile robot control and
application.
Tan Tung Phan was born in Viet
nam on May 3th, 1959. He received
the B.S and M.S. degrees from the
Faculty of Mechanical Engineering,
HCMUT, Vietnam in 1982 and
1995. He received Ph.D. degree
from Dept. of Mechanical
Engineering, Pukyong Nat’l
Hội nghị Toàn quốc lần thứ 7 về Cơ điện tử - VCM-2014 601

University, Pusan, Korea in February, 2005. He is a

senior lecturer of the Faculty of Mechanical
Engineering, HCMUT. His fields of interest are Robot
Control and Welding Automation Process Control.

Tan Tien Nguyen received the

B.S. degree in Mechanical
Engineering from HCMUT,
Vietnam, in 1990 and the M.S.
degree and Ph.D degree in
Mechanical Eng., Pukyong Nat’l
University, Pusan, Korea, in
August, 1998, and August, 2001, respectively. Now
he is an Ass. Professor at the Faculty of Mechanical
Engineering, HCMUT. His interests are robust
control theory and industry automation control

VCM-2014