Outdoor Industrial AGV Trajectory Tracking Control Algorithm Research

In the outdoor industrial scenario, the working environment of wheeled mobile robots (AGVs) is complex, with large curvature tight corners, uneven ground surfaces, and obvious characteristics of unstructured roads, which places high requirements on unmanned transportation operations. Aiming at the problems of Oscillation and insufficient accuracy that wheeled mobile robots may encounter when passing through large-radius tight corners, an improved control algorithm combining pure tracking and PID is proposed, which improves the adaptability of the vehicle when passing through large-radius tight corners through multi-point preview. Based on the design of the traditional control algorithm, a basic controller is designed, and the advantages of the basic algorithm are combined to design the lateral algorithm. The performance of the algorithm is verified through Matlab simulation and real-vehicle environment testing. The experimental results show that the algorithm presented in this article enhances the stability and precision of the robot, demonstrating practical value.