(4) The prototype of AGV is made and verified by experiment. The prototype of AGV is made, installed and debugged, and the performance test and experiment of AGV are carried out. The results show that the AGV plans an optimal path, which verifies the effectiveness of the improved A* smoothing algorithm. Through the trajectory tracking experiment, the rationality of the designed control system and research scheme based on laser navigation AGV is verified. Compared with PID tracking control, the average error of straight trajectory tracking of AGV based on PSO controller is reduced by 6.71% and the average error of curve trajectory tracking is reduced by 15.37%.
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