In this study, a path tracking control method based on model predictive control (MPC) is presented to improve the results of path tracking. A simulation model of an automatic guided vehicle (AGV) is employed in a robot operating system (ROS). A collision free path is established with the ROS under the scene of continuous turning as a reference path. A linear MPC controller is used to control the AGV in the ROS, and a simulation experiment is performed with the combined simulation of ROS and MATLAB. Experimental results verify that the proposed MPC controller has a good tracking performance under complex road conditions.


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    Title :

    Model predictive control-based path tracking control for automatic guided vehicles


    Contributors:
    Xu, Haitian (author) / Yu, Zhixin (author) / Lu, Xiaohui (author) / Wang, Shuai (author) / Li, Shaosong (author) / Wang, Shujun (author)


    Publication date :

    2020-12-18


    Size :

    555757 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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