In most cases, AGV driving routes a

In most cases, AGV driving routes are straight lines. Even if there are turns, we simplify them to straight segment paths through constant correction of long distances.The navigation control of AGV is to control the position deviation and heading deviation in the course of AGV running path.AGV movement in the work environment, the laser sensor to its current position and environment and the surrounding environment, laser scanning detecting and real-time signal output and high precision position coordinates, to the coordinates of the location parameters for accurate positioning, through a series of calculation and form navigation path signal, and finally by the electronic control system and communication system to the AGV ordered signals, controlling AGV wheel speed and direction, to make it run along a predetermined path.4.3.2 Navigation algorithm conditionsThe navigation algorithm is to process the 16 Numbers obtained by the master controller to obtain the real-time pose error information of AGV.Since the result is a series of digital signals, the distance value of AGV deviating from the target path cannot be accurately calculated. Instead, the deviation range can only be determined. In order to simplify processing, digital signals are numbered.