Application and experiment of tracking control method for AGV

This paper concerns the trajectory tracking control for AGV. Considering the differences between the simulation and the practical situation and to improve the performance of AGV, this paper proposes a novel tracking control method for AGV. After presenting the kinematical model of AGV, the method proposed is explicated. In minimizing the time spent, the method, which is applicable for any given tracking curve, conforms to the efficiency requirement in practical situation. And in the explication of the method, two methods are discussed. Furthermore, to conform to the reversing problem in practical situation, this paper proposes an improved stable tracking control rule, with which the AGV needs not to be turned around. Then, the stability of the rule is proved through the use of a Lyapunov function. Finally, the method proposed in this paper is validated by the experimental results.