AGV trajectory track using nonlinear model predictive

摘要

Automated guided vehicle (AGV) system is widely used in manufacturing industry, port and dock as a material conveying robot in logistics system. AGV is flexible and intellectualized. But there are many factors make error during AGV implementing given route. This paper applies predictive control theory to solve implement control problem. A proportional integral gain self-adaptive regulator is designed. With the implement controller, AGV can perform given route well.