Research on AGV With Two Rear Independent Driving Wheels for Stopping at a Specific Location

A kinematics model of Automatically Guided Vehicle (AGV) with two rear independent driving wheels was developed. The moving paths of the two wheels were computed . Based on this model, a control strategy for AGV with two driving wheels to stop at the specific location was proposed. Because vehicle can not move in lateral direction, even if the vehicle is very close to the expected position, the process to stop at the specific location must need two steps. The first step is that the vehicle moves a distance in longitudinal direction to eliminate the offset Δy and orientation error Δβ. The second step is to eliminate the distance error x+Δx in longitudinal direction. The results of experiments showed that the control strategy has acceptable precision even if the vehicle moves at working speed.