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- Title
Formation Control of Dual Auto Guided Vehicles Based on Compensation Method in 5G Networks.
- Authors
Wang, Liuquan; Liu, Qiang; Zang, Chenxin; Zhu, Sanying; Gan, Chaoyang; Liu, Yanqiang
- Abstract
With commercial application of 5G networks, many researchers have started paying attention to real-time control in 5G networks. This paper focuses on dual auto guided vehicles collaborative transport scenarios and designs a formation control system in current commercial 5G networks. Firstly, the structure of the 5G network researched in this paper is introduced. Then the round-trip time of 5G networks is measured and analyzed. The result shows that although the 5G round-trip time has randomness, it is mainly concentrated in 19 ± 3 ms, and the jitter mainly in 0 ± 3 ms. The Kalman filter is applied to estimate the transmission delay and experiment result shows the effectiveness of the estimation. Furthermore, the total delay including transmission delay and execution delay in control system is discussed. After establishing the AGV kinematic and formation model, complete control system based on compensation method is proposed. Finally, an experiment is carried out. Compared to the result without formation control, maximum distance error is reduced by 82.61% on average, while maximum angle error 45.91% on average. The result shows the effectiveness of the control system in formation maintaining in 5G network.
- Subjects
5G networks; KALMAN filtering; ATTENTION control; REAL-time control; INTELLIGENT transportation systems
- Publication
Machines, 2021, Vol 9, Issue 12, p318
- ISSN
2075-1702
- Publication type
Article
- DOI
10.3390/machines9120318