当AGV的起始位置不在全局规划路径上时，需要设计一条从起始位置到全局规

当AGV的起始位置不在全局规划路径上时，需要设计一条从起始位置到全局规划路径上的路径，此路径为临时路径，其主要是使AGV沿此路径能平滑的回归到全局规划路径上。这样在对AGV进行控制时，就不会因为偏差而引起控制量输出过大的情况。于此同时，还要考虑AGV的机械性能，临时路径的圆弧半径不能小于AGV的最小转弯半径，否则AGV将无法沿此路径运行。反之，则又会影响AGV过渡到全局规划路径上的时效性，所以，要遵循这些基本要求设计一条圆滑的过渡曲线，使AGV回归到全局规划路径上。<br>全局规划路径一般为直线和圆弧的两种情况，以下分别对两种情况下的临时路径生成方法进行研究[30]。

当AGV的起始位置不在全局规划路径上时，需要设计一条从起始位置到全局规划路径上的路径，此路径为临时路径，其主要是使AGV沿此路径能平滑的回归到全局规划路径上。 这样在对AGV进行控制时，就不会因为偏差而引起控制量输出过大的情况。 于此同时，还要考虑AGV的机械性能，临时路径的圆弧半径不能小于AGV的最小转弯半径，否则AGV将无法沿此路径运行。 反之，则又会影响AGV过渡到全局规划路径上的时效性，所以，要遵循这些基本要求设计一条圆滑的过渡曲线，使AGV回归到全局规划路径上。<br>全局规划路径一般为直线和圆弧的两种情况，以下分别对两种情况下的临时路径生成方法进行研究[30]。

When the starting position of AGV is not on the global planning path, it is necessary to design a path from the starting position to the global planning path. This path is a temporary path, which mainly makes AGV smoothly return to the global planning path along this path. In this way, when the AGV is controlled, the control output will not be too large because of the deviation. At the same time, the mechanical properties of AGV should be considered. The arc radius of temporary path should not be less than the minimum turning radius of AGV, otherwise AGV will not be able to run along this path. On the contrary, it will affect the timeliness of the transition from AGV to global planning path. Therefore, we should follow these basic requirements to design a smooth transition curve to make AGV return to the global planning path.<br>The global planning path is generally in two cases of straight line and circular arc. The following two cases of temporary path generation methods are studied respectively [30].<br>