Abstract
This paper studies tracking control problem which is applied on the 16-wheel heavy-duty AGV(Automated Guided Vehicle). Firstly, the trajectory detection scheme is designed based on magnetic navigation sensors. Secondly, the 16-wheel heavy-duty AGV control model is simplified as a two-wheel AGV model according to Ackermann steering principle, and fuzzy trajectory control regulation is established based on car driving experience. Finally, a trajectory control simulation system for circular/straight trajectories is built in MATLAB Simulink to verify the effectiveness on trajectory control.
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