Interval trajectory tracking for AGV based on MPC

Aiming at the problem of AGV trajectory tracking, this paper designs an interval trajectory tracking control method based on MPC. Firstly, the vehicle kinematics model is linearized. Secondly, the model predictive control method is used, and the error between the predicted trajectory and the expected trajectory is utilized to obtain the control sequence that minimizes the performance index. Finally, two sets of experiments with straight and small curvature sinusoids were designed to verify the proposed method. The experimental results show that the AGV can travel stably in a given feasible region, which proves the effectiveness of the proposed MPC-based AGV interval trajectory tracking method.