Study On Path Planning And Path Tracking Control Of Automated Guide Vehicle

With the more and more automated guide vehicle (AGV) was applied on production and logistics, people paid more attention to study on the technology of AGV. In this paper, based on the novel and simple model of AGV, we studied the path planning and path tracking control of AGV. The innovative works is following:1. The point-AGV path planning algorithm, which was called distance propagating algorithm was presented and analyzed in this paper. We proposed the improved distance propagating algorithm to enhance its applied worthiness by introducing the blight to AGV motion caused by the road face roughness which was first proposed. The emulation shows that the improved algorithm can plan the better path for point-AGV and was more applied worthiness.2. Based on the improved distance propagating algorithm, we proposed the so called vector distance propagating algorithm to plan the path for nonholonomic AGV. The vector distance with orientation and length, which was defined in the algorithm, was propagating around by especial mode. In the static environment, the novel and simple algorithm can plan the perfect path for AGV.3. In this paper, some path tracking control algorithms are introduced simply. We proposed simple adaptive fuzzy-neural network controller to control the path tracking of AGV. This controller has a learning signal trigger which controls the process of adaptive on-line tune the parameters of network. Another controller called fuzzy-PID controller was applied on path tracking control of AGV. The efficiency and performance was shown by emulation.Finally, we summarized the work and pointed out the deficiency in this paper. Certainly, we should continue to make research on this topic.