Research on Accurate Motion Trajectory Control Method of Four-Wheel Steering AGV Based on Stanley-PID Control

• Published in: Sensors (Basel, Switzerland) Vol. 23; no. 16; p. 7219
• Main Authors: Fu, Weijie, Liu, Yan, Zhang, Xinming
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.08.2023; MDPI
• Subjects: Accuracy; Algorithms; Automatic guided vehicles; Comparative analysis; Control algorithms; Control systems; Controllers; four-wheel-steering autonomous ground vehicle (4WS AGV); Kinematics; Methods; Motion control; motion trajectory control; Optimization techniques; Robotics; Robots; Sensors; Simulation; Stanley-PID algorithm; Technology application; Vehicles; Velocity; Wheels
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s23167219

With the continuous progress and application of robotics technology, the importance of mobile robots capable of adapting to specialized work environments is gaining prominence. Among them, achieving precise and stable control of AGVs (Automated Guided Vehicles) stands as a paramount task propelling the advancement of mobile robotics. Consequently, this study devises a control system that enables AGVs to attain stable and accurate motion through equipment connection and debugging, kinematic modeling of the four-wheel steering AGV, and a selection and comparative analysis of motion control algorithms. The effectiveness of the Stanley-PID control algorithm in guiding the motion of a four-wheel steering AGV is validated through MATLAB 2021a simulation software. The simulation results illustrate the outstanding stability and precise control capabilities of the Stanley-PID algorithm.