WCSE

An Arc Tracking Navigation Method for AGV with Multiple Differential Wheel Groups

Abstract— With the wide application of heavy-duty AGV in different fields, AGV based on multi differential wheel groups (MDWG-AGV) has become the key equipment of heavy-duty AGV. However, MDWG-AGV can not realize continuous omni-directional motion, which increases its motion control complexity, especially arc motion. To solve the problem of arc tracking navigation of MDWG-AGV, an arc tracking navigation control algorithm to correct heading angle based on the arc radius(R-H) are proposed. Firstly, the mode of MDWG-AGV is analyzed and its motion equation is derived. Secondly, combined with the characteristics of AGV moving on the arc path, a robust R-H arc tracking algorithm suitable for AGV with multiple differential wheel groups is proposed. Finally, the effectiveness and robustness of R-H algorithm are proved by arc experiments in different cases.

Index Terms— multi differential wheel group, tracking navigation, R-H tracking algorithm, arc tracking.

Chengjie Li
Beijing Specialized Machinery Institute, China
Yuanqiao Li
Beijing Specialized Machinery Institute, China
Sanjun Duan
Beijing Specialized Machinery Institute, China

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Cite: Chengjie Li, Yuanqiao Li, Sanjun Duan, " An Arc Tracking Navigation Method for AGV with Multiple Differential Wheel Groups , " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 1179-1186, Sanya, China, April 15-18, 2022.