Trajectory Tracking Controller Design for AGV Using Laser Sensor Based Positioning System

摘要

This paper introduces a tracking controller for Automatic Guided Vehicles (AGV) to track a desired trajectory. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. Based on kinematic model, a trajectory tracking controller of AGV is proposed. System stability is verified by Lyapunov stability. A laser sensor device NAV200 is used to detect the AGV position in door environment in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.