Sectionalized tracking control and experiment of AGV

In order to have a better practical application of AGV in automated warehouse, this paper proposes a sectionalized tracking control method. Firstly, the kinematic model and the tracking control model of AGV are designed. Secondly, the path planned in this paper is composed of segments and arcs. Based on the shortest time principle, and also taking the geometric characteristics of segments and arcs into consideration, the planning of reference posture and reference velocities for segment and for arc are modeled. Then, tracking control rule is designed with Lyapunov function. Finally, the tracking control experiments of segment, arc and path consisting of segments and arcs are carried out on an experimental platform. And it is concluded that the sectionalized tracking control method is effective and feasible.