Academic Journal of Computing & Information Science, 2022, 5(3); doi: 10.25236/AJCIS.2022.050314.
Mingli Sun1, Sen Yang1, Dongyun Wang1, Jinmao Gu2, Hu Cai2
1College of Engineering, Zhejiang Normal University, Jinhua, 321004, China
2R & D Center, Beijing Xinghang Electromechanical Equipment Co., Ltd, Beijing, 100074, China
In this essay, a PID trajectory tracking algorithm combining the lateral position with the yaw Angle is proposed, which is also implemented in the insert AGV control system, so as to meet the demand of a certain automobile manufacturer in the outdoor use of AGV to automatically move new cars rolling off the assembly line to the parking lot. According to the positioning information of RTK-GPS, the AGV control system takes the vehicle-mounted coordinate system as the control reference and uses the PID algorithm combining the lateral position and yaw Angle, thus realizing the trajectory tracking. Through numerous tests of real vehicles under various environments, the positioning accuracy and orientation accuracy of AGV in the process of picking up the vehicle reach ±25mm and ±0.1°respectively. Being deployed in the AGV trailer, the control algorithm with the dispatch of the scheduling system can take fixed-point pickup, track tracking, vehicle release and other actions, and can run for a long time with high precision and stability.
PID algorithm; RTK-GPS; AGV control system
Mingli Sun, Sen Yang, Dongyun Wang, Jinmao Gu, Hu Cai. Design and Implementation of Control System for Submersible AGV. Academic Journal of Computing & Information Science (2022), Vol. 5, Issue 3: 94-100. https://doi.org/10.25236/AJCIS.2022.050314.
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