Trajectory tracking control method and experiment of AGV

摘要

Aiming at the trajectory tracking control of AGV in aeronautical manufacturing and automated warehouse, a novel trajectory tracking control method was proposed. Firstly, the kinematic model and trajectory tracking control model of AGV were established. After analysing the reversing problem of AGV in practical situation and the limitations of classic trajectory tracking control method, and based on the similarity between the forward mode and reversing mode of AGV, a novel trajectory tracking control rule was designed and its stability was proved. The trajectory tracking control rule had simpler, less amount of calculation and improved the flexibility and handling efficiency of AGV. Finally, the trajectory tracking control experiments of sinusoid and path consisting of segments and arcs were done on experimental platform. The experiment results verified that the trajectory tracking control method were effective and feasible. The method could meet the requirements of autonomous handing for AGV in aeronautical manufacturing and automated warehouse.