Research on AGV track planning and trajectory correction
                                                                         YANG Qianming, ZHANG Jun, RUAN Yi
(College of Mechanical and Electronic Engineering, Shandong University   of Science and Technology, Qingdao 26659, China)

Abstract: Aiming at the problem of poor precision and rectifying deviation of AGV, the cause of AGV deviation formation and its correction control method were studied. The AGV correction motion control model and the correction control system were studied. A mathematical motion model of AGV trajectory planning and a PWM rectifying speed control model of DC motor were established, and AGV motion curve and the characteristics of PID rectifying control curve were also obtained through simulation by using the Matlab software. The field operation and test of the experimental prototype were carried out, and the deviation data of the actual operation of AGV and the ideal track were obtained. The results indicate that the system can rectify the trajectory deviation of AGV quickly and stably, and the response time is about 3.5 s by using the DC motor PWM speed regulation and the PID correction algorithm. That the error of experimental data is within ±10 mm.

Key words: PWM speed regulation; PID control; Matlab; correction accuracy