文档介绍：Proceedings of the IEEE
International Conference on Automation and Logistics
August 18 - 21, 2007, Jinan, China
Experiment Study of Multi-Step Predictive Control
in AGV Path Tracking*
Enxiu Shi and Junjie Guo Enxiu Shi, Changlin He and Tao Cai
State Key Laboratory for Manufacturing System Engineering Institute of Machine and Automation
Xi’an Jiaotong University Xi’an University of Technology
Xi’an, Shaanxi Province, China Xi’an, Shaanxi Province, China
******@xaut. shienxiu@
Abstract - Automatic Guided Vehicle (AGV) is a kind of The global tracking technology is researched in this paper,
Wheeled Mobile Robot (WMR) that is used to convey material in which differential driving AGV is as the object. Through
and supplies in unmanned production workshop. To finish the analysis of predictive control algorithm (PCA), multi-step
transporting task for differential driving with predictive control is used to control AGV tracking the plan-
nonholonomic constraints made by ourselves, Multi-Step path. The validity and the feasibility of multi-step predictive
Predictive Control Algorithm (MSPCA) is designed and used to
control AGV to track plan-path to improve the speed of path control algorithm are confirmed through the theory simulation
tracking and the stability of motion. It is verified that MSPCA is and the experiment in this pa