Vision-Guided AGV Trajectory Tracking Control and Simulation Verification
Aiming at the trajectory tracking problem of bidirectional dual drive vision AGV,the kinematics model and control sys-tem state equation of AGV are established.Based on the three path models of straight line,arc and non arc,the distance devia-tion and angle deviation of AGV in straight line,arc and non arc path are obtained respectively by using the minimum mean square error method and the tangent arc correction method.The fuzzy PID controller is designed and compared with PID controller The controller is compared and verified,and the trajectory tracking control is simulated and verified by PreScan software.The re-sults show that the fuzzy PID controller can intelligently adjust parameters through fuzzy rules,reduce overshoot,stabilize the tra-jectory of AGV,and the stable time is short,which can achieve stable and effective trajectory tracking of AGV.
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