Title: An improved hybrid error control path tracking intelligent algorithm for omnidirectional AGV on ROS

Authors: Yaqiu Liu; Hui Jing; Xun Liu; Yunlei Lv

Addresses: Computer Architecture Department, Northeast Forestry University, Harbin, Heilongjiang, China ' Computer Architecture Department, Northeast Forestry University, Harbin, Heilongjiang, China ' Computer Architecture Department, Northeast Forestry University, Harbin, Heilongjiang, China ' Computer Architecture Department, Northeast Forestry University, Harbin, Heilongjiang, China

Abstract: In order to improve the accuracy and stability of intelligent omnidirectional AGV path tracking based on Mecanum wheels, an improved intelligent hybrid error control path tracking method is proposed. The method combines the angular velocity of the intelligent AGV vehicle with the error correction of longitudinal velocity as the coupling estimation error. The coupling estimation error and the improved pure tracking algorithm are combined as the lateral control of the intelligent AGV car, while the PID control is used as the vertical control to further reduce the error interference. The ROS simulation results showed that compared with the tracking effect of the traditional pure tracking algorithm, the tracking path of the improved intelligent hybrid error control path tracking algorithm is closer to the real path, which greatly improved the trajectory deviation phenomenon, and the path tracking accuracy and stability are significantly improved.

Keywords: Mecanum wheel; path tracking; improved hybrid error control; coupling estimation error; intelligent omnidirectional AGV; pure pursuit; ROS.

DOI: 10.1504/IJCAT.2020.111603

International Journal of Computer Applications in Technology, 2020 Vol.64 No.2, pp.115 - 125

Received: 20 Feb 2020
Accepted: 29 Mar 2020
Published online: 03 Dec 2020 *

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