Magnetic Locating AGV Navigation Based on Kalman Filter and PID Control

摘要

In order to achieve precise navigation of AGV (Automatic Guided Vehicle), In this paper, we proposes a AGV navigation with magnetic nail positioning method based on Kalman filtering (KF) and PID (Proportion-integral-derivative) control. The magnetic nail is placed in the area where the AGV travels, and the current pose information of the AGV is obtained according to the magnetic sensor, and compared with the predetermined path to obtain the current heading deviation. As the input of the PID controller, the position adjustment amount of the AGV is taken as the output. At the same time, the Kalman filtering (KF) algorithm is used to estimate the state with noise interference, which further improves the positioning accuracy of AGV, and simulation is carried out by Matlab software. The simulation results show that the proposed Kalman filtering and PID control are effective for magnetic nail positioning AGV navigation. This research has broad application prospects.