Local Path Planning And Motion Control For Agv In Positioning

TLDR

The method minimizes a cost function to constrain AGV jerk, ensures continuous velocity and curvature for smooth travel, and was implemented in the CIU for positioning. The proposed local‑path‑planning method was shown to plan paths in real time and enable AGVs to travel smoothly along the path.

Abstract

Local-path-planning-method has been proposed for positioning autonomous guided vehicles ( AGVs). This method minimizes the cost function to constrain AGV's sudden accel- eration change (jerk). The method allows AGVs to malie the velocity and the curvature of the local path continuous, so that AGVs can smoothly travcl along the path. The mcthod was iriil)lcrrioritctl on tlie CI'U of an cxpciiriic.iitnl vcliic.lc tor posi- tioniiig. It was shown that tlic cxpciiiiicntal vcliiclc ~oiiltl plan the local path in rcal time and travel along the path.