Research on Truck AGV Control System

In order to meet the needs of modern factories for low-speed and heavy-duty cross-workshop transporting truck AGVs that operate outdoors, research on the truck AGV control system has been carried out from both hardware systems and software algorithms. STM32F407VET6 is selected as the main controller of the system, and a simplified model of the truck AGV is established. The pure pursuit algorithm is used for path tracking to control the vehicle to travel along the desired path. After actual vehicle experiments, under the control system of this article, the lateral tracking deviation of the vehicle after reaching the destination is no more than ±25mm, and the longitudinal deviation is no more than ±19mm, which shows that the control system of this article has good stability and repeat positioning accuracy; When the initial position has a lateral deviation of 1m from the desired path, after the driving distance exceeds 3.5m, the vehicle can be controlled to quickly and accurately converge to the desired path; at the same time, it also has a better tracking effect for more complex continuous curves. It can meet the motion control requirements of automatic transporting trucks operating on complex outdoor routes, which is of great significance for realizing factory handling automation and intelligence.