Design and implementation of deviation rectification control model for heavy-duty automated guided vehicle

With the development of automated guided vehicle (AGV) technology, aiming at the characteristics of heavy load AGV with large size and high load capacity, this paper studies the improved PID controller based on speed control to rectify the vehicle deviation. Firstly, the position and attitude of AGV are measured. Then the PID controller based on vehicle motion model is designed, and the incremental PID control based on integral separation is used to realise the vehicle deviation rectification. The best PID parameters are obtained by simulation experiment. And the real vehicle experiment demonstrates that the deviation rectification control model designed in this paper can meet the actual requirements.