Research on Accurate Motion Trajectory Control Method of Four-Wheel Steering AGV Based on Stanley-PID Control-Reference-Cited by-同舟云学术

Research on Accurate Motion Trajectory Control Method of Four-Wheel Steering AGV Based on Stanley-PID Control

Published:2023-08-17 Issue:16 Volume:23 Page:7219
ISSN:1424-8220
Container-title:Sensors
language:en
Short-container-title:Sensors

Author:

Fu Weijie¹²³^ORCID,Liu Yan²³,Zhang Xinming¹²³

Affiliation:

1. School of Mechatronic Engineering and Automation, Foshan University, Foshan 528001, China

2. School of Mechatronic Engineering, Changchun University of Science and Technology, Changchun 130022, China

3. Ministry of Education Key Laboratory for Cross-Scale Micro and Nano Manufacturing, Changchun 130022, China

Abstract

With the continuous progress and application of robotics technology, the importance of mobile robots capable of adapting to specialized work environments is gaining prominence. Among them, achieving precise and stable control of AGVs (Automated Guided Vehicles) stands as a paramount task propelling the advancement of mobile robotics. Consequently, this study devises a control system that enables AGVs to attain stable and accurate motion through equipment connection and debugging, kinematic modeling of the four-wheel steering AGV, and a selection and comparative analysis of motion control algorithms. The effectiveness of the Stanley-PID control algorithm in guiding the motion of a four-wheel steering AGV is validated through MATLAB 2021a simulation software. The simulation results illustrate the outstanding stability and precise control capabilities of the Stanley-PID algorithm.

Funder

basic and applied basic research fund of Guang-dong province

Jilin Province Scientific and Technological Development Program

The Open Project Program of Key Laboratory for Cross-Scale Micro and Nano Manufacturing, Ministry of Education, Changchun University of Science and Technology

Scientific Research Project of Education Department of Guangdong Province

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

Link

https://www.mdpi.com/1424-8220/23/16/7219/pdf

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