A Control Strategy for AGV to Stop at a Specified Location

A mathematics model of AGV with a single front steering wheel for stopping at a specified location is established in this paper.Based on the model developed,a control strategy with two steps is investigated.According to optimal control principle,PingPing control algorithm is used to eliminate vehicle's errors from current position to the expected location,the switching line of control action and the minimum moving distance are given by using this algorithm.Since the vehicle needs to move the minimum distance to eliminate all error being away from the given path,the stopping mark ahead of the expected location is required so as to achieve the satisfied results.