PID Control of Magnetic Navigation Differential AGV Trajectory

This paper is based on a dual-wheel drive differential steering AGV. In order to solve the problem of AGV tracking, firstly, AGV is conducted with kinematically modeling; then the PID controller is designed with the ante deviation as input and left and right driving wheel speed difference as output; and finally, simulation verification is carried out in the MATLAB/Simulink environment. The simulation results show that the designed PID controller has good tracking performance in straight line and circular path and it has strong adaptability and high robustness.