Design Of Tracking Control Method For Automatic Guided Vehicle

Automated guided vehicle(AGV)is the most widely used type in the field of wheeled mobile robots.It has a strong application background in the fields of industrial production,agricultural manufacturing,military defense,and aerospace.It is important to study its control issues.Practical value.How to quickly and accurately track the track of an automated guided vehicle is a hot and difficult point that attracts researchers'attention.This article mainly takes the dual steering wheel automatic guided vehicle as the research object,and conducts theoretical research and experimental verification of its trajectory tracking control method.First,taking the dual steering wheel automatic guided vehicle as the research object,the kinematics model of the automatic guided vehicle is established,the turning radius of the vehicle body is obtained,and the steering advantage of the dual steering wheel automatic guided vehicle is analyzed.Based on this,a single neuron proportional-integral-differential trajectory tracking cortroller based on a kinematic model is designed,and the tracking effect of the controller is simulated by experiments.It is proved that the single neuron proportional-integral-differential algorithm is relatively simple.Straight and circular trajectories with good tracking effect;Secondly,the application of the model predictive control algorithm in the dual steering wheel automatic guided vehicle is studied.Based on the dual steering wheel automatic guided vehicle kinematics attitude and error model,a model predictive control trajectory tracking controller is established,and the control time domain weights and predict the impact of two model parameters on the performance of the time domain.In order to verify the actual tracking effect of the model predictive control algorithm in the dual steering wheel guided vehicle,simulation experiments were performed.The final experiments show that compared with the single neuron proportional-integral-differential algorithm,the model predictive controller can meet various constraints.Efficiently and accurately complete the effective tracking of continuous large curvature target paths,while having high real-time and robustness;Finally,considering the body motion performance indicators and various constraints,the industrial scene field experiment of the dual steering wheel AGV trajectory tracking control algorithm is designed and implemented.Through the industrial scene field experiment,the model predictive control trajectory tracking technology is applied to the dual steering wheel automatic guidance.