Coordinated Path Tracking Control For An AGV With Multiple Guiding Driving Modules

As a kind of wheeled mobile robot with high automated ability,high efficiency,high safety and strong controllability,Automated Guided Vehicle(AGV)is widely used in modern warehousing and advanced manufacturing industry.Considering the requirements for flexibility and bearing capacity,which need to adapt to the movement of AGV in carrying tasks with long size and heavy weight component,the research on design of AGV composed of differential driving unit and cooperative motion control between driving unit,has important theoretical significance and practical application value.With the motion control problem of path tracking for differential drive AGV,it is essential to analyse the visual scope and the constraints of deviation control,which is imposed by servo drive.Then,a tracking control method based on trajectory planning transformation path deviation is proposed.For the uncertain parameters in the rectification path,the fuzzy controller is used to determine the parameters.On this basis,a cooperative control method based on virtual structure method as well as leader-follower control strategy is presented in order to solve problem with driving unit movement coordination.It improves the collaborative performance by error model.Based on above research,the digital simulation and path tracking experiments are carried out by using AGV platform,which is based on the embedded controller.The simulation and experiment results show that the control method can achieve the stable path tracking for AGV with differential speed.