4）制作了AGV样机并进行实验验证。开展了样机搭建，并设计实验场地，然

4）制作了AGV样机并进行实验验证。开展了样机搭建，并设计实验场地，然后进行了AGV性能实验分析，分别开展了路径规划对比实验和轨迹跟踪对比实验。路径规划结果表明AGV能够成功地规划出了一条最优路径，然后进行了轨迹跟踪实验，在直线轨迹中AGV在运动过程最大误差值为21.97mm。而曲线轨迹跟踪过程中曲线累计平均误差为13.27mm。通过实验证明本文所设计的激光导航AGV与关键技术方案具有可行性和可靠性，最后进行正交实验，分析AGV的综合运行性能。

4) The AGV prototype is made and verified by experiments. The prototype is built, and the experimental site is designed. Then the AGV performance experimental analysis is carried out, and the path planning comparative experiment and trajectory tracking comparative experiment are carried out respectively. The results of path planning show that AGV can successfully plan an optimal path, and then the trajectory tracking experiment is carried out. In the linear trajectory, the maximum error of AGV in the motion process is 21.97mm. The cumulative average error of curve trajectory tracking is 13.27mm. Experiments show that the laser navigation AGV and the key technical scheme designed in this paper are feasible and reliable. Finally, orthogonal experiments are carried out to analyze the comprehensive operation performance of AGV.

4) The AGV prototype is made and verified by experiments. The prototype was built, and the experimental site was designed. Then the performance of AGV was analyzed, and the comparative experiments of path planning and trajectory tracking were carried out respectively. The result of path planning shows that AGV can successfully plan an optimal path, and then the trajectory tracking experiment is carried out. The maximum error of AGV in the straight trajectory is 21.97 mm. However, the cumulative average error of curve in the process of curve tracking is 13.27 mm. Experiments prove the feasibility and reliability of the laser navigation AGV and key technical schemes designed in this paper. Finally, orthogonal experiments are carried out to analyze the comprehensive operation performance of AGV.