Study On Lateral Control Of Path Tracking For Four-wheel-steering AGV Based On Model Predictive Control

In the context of economic globalization and trade globalization,automated ports have become the transformation direction of traditional ports,and container transfer vehicles in ports have also changed from traditional trucks to automatic guided vehicles(AGV).The main research content of this paper is the lateral control of AGV to track the target path when transporting containers.After research,few of the current research contents include lateral tracking control for four-wheel steering or heavy-duty vehicles.And there are few papers on how to improve control accuracy and reduce system operation time under different working conditions.In this paper,a parameter adaptive control method based on a model prediction algorithm is proposed,which improves the path tracking accuracy and the real-time control under different working conditions.The AGV nonlinear dynamic model is built based on the magic tire formula and the vehicle monorail model,and the model is simplified under the premise of small angle assumptions.The virtual prototype model of AGV is built in Adams and verified by actual vehicle test.Based on model predictive control,an AGV path tracking lateral controller is built,including tire corner angle constraints,and joint simulation is performed using Matlab and Adams.The simulation results verify that the controller has a good control effect under different road conditions and vehicle speeds.Comparing four-wheel-steering with front-wheel-steering,it is found that four-wheel steering plays a significant role in improving path tracking accuracy and vehicle stability.Considering that the AGV will travel on different paths and speeds,this paper proposes a parameter adaptive strategy,using genetic algorithms to optimize the prediction time domain and control time domain parameters in the model predictive controller,and the tracking accuracy and real-time control are considered.The parameter-adaptive controller was verified by simulation.The results show that it can improve path tracking accuracy and reduce calculation time...