Path tracking of Automated Guided Vehicle

Abstract

In this paper, a systematic method for kinematics and dynamic tricycle modelling of AGV is presented to track the desired trajectory. The localization of AGV is done by a laser sensor NAV200 which is used to detect the AGV position in dour environment in real time. The AGV consists of 2 passive wheels at rear and 1 driving wheel at front. The navigation system for tricycle AGV is based on front wheel, i.e., the movement of AGV is controlled by front wheel. In order to move the AGV, kinematic model used here is a constant velocity model for linear motion and pure pursuit algorithm is used so that AGV follows the desired trajectory. The experimental result shows that AGV successfully tracks the predefined path in real environment.