Welcome to Francis Academic Press

Academic Journal of Computing & Information Science, 2022, 5(3); doi: 10.25236/AJCIS.2022.050314.

Design and Implementation of Control System for Submersible AGV


Mingli Sun1, Sen Yang1, Dongyun Wang1, Jinmao Gu2, Hu Cai2

Corresponding Author:
​Mingli Sun

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

Cite This Paper

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.


[1] Alexandre L, Florent P, Abdeljalil A T, et al. Decentralized management of intersections of automated guided vehicles [J]. IFAC Papers OnLine, 2016, 49(12): 497-502

[2] Bin Re, Jihe Feng. The Design and Implementation of AGV Control System based on Vision Navigation [J]. Academic Journal of Dongguan University of Technology. 2021,28(3):27-32

[3] Baoxi Guo, Tiehua Sun. Design of New Technology and New Product for Dual-vehicle Linkage Heavy-duty AGV [J]. 2021, (01) 73-75. 2021, (01) 73-75

[4] Chenbeixi Zhang, Zhiqiu Huang. A Comprehensive Review of the Development of Autonomous Navigation Vehicle (AGV) [J]. Machinery Design and Manufacturing Engineering, 2010, 39 (1): 53-59

[5] Gomes M V, Bassora L A, Morandin O. PID control applied on a line-follower AGV using a RGB Systems [C]. IEEE 19th International Conference on Intelligent Transportation (ITSC), 2016:194-198.

[6] Hong Yu. Application of Multi-function AGV in Vehicle Material Transportation System [J]. Internal Combustion Engine and Accessories, 2021.2 208-210

[7] Junbao Zhang. Application Design of AGV in BEV Automobile Rear Axle Assembly Line [J]. Process Equipment 2020. 4 177-178+221

[8] Liu Yuheng, Piao Yan, Zhang Luyuan. Research on the Positioning of AGV Based on Lidar [J]Journal of Physics: Conference SeriesVolume 1920, Issue 1. 2021, 1920(1): 1-7.

[9] Pengfei Sun. Application of Magnetic Nail Navigation in AGV [J]. Mechanical Engineering and Automation. 2020, (04): 194-195+198.

[10] Zhengchong Mao, Qiang Chen. Research on AGV Navigation and Positioning Algorithm Based on Machine Vision [J]. Computer and Digital Engineering. 2020,48(08): 1914-1918

[11] Zhimin Ning. Overview of AGV Technology development [J]. Navigation and Control, 2014, 13(5): 58-63