Automatic guided vehicle trajectory tracking control based on kinematics model
To make the automatic guided vehicle more precise and stable during the driving process,its trajec-tory tracking problem is studied in this paper.Aiming at the Kinematics model of AGV,the error equation of its position and attitude state is established,and based on Lyapunov stability theory,a simple and effective tra-jectory tracking controller is designed.The MATLAB/Simulink simulation results show that the trajectory tracking controller designed in this paper not only ensures system stability but also meets the requirements of rapid deviation correction for autonomous guided vehicles under different operating trajectories.
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