Leader-follower Motion Control of Two Line Following AGVs using PID Algorithm

The aim of this paper is to study the leader-follower motion problem of two line following AGVs that follow the same path and maintain the desired relative distance
$l$
, In this paper, through converting the relative angle
$\psi$
in the
$l-\psi$
model into the front or back position relationship
$p$
between two AGVs, a
$l-p$
control model is proposed. Based on this model, the tracking error relationship between the follower and the leader is established and the linear velocity of the follower is generated using the PID algorithm. The proposed method is tested on the self-developed experimental platform based on STM32, and the results show that the AGV can follow the specified path and maintain the desired distance.