Lateral and Longitudinal Hierarchical Control of Port AGV Considering Coupling Characteristics

doi:10.3901/JME.2025.14.383

Abstract

Abstract: To improve the path-tracking accuracy and stability of the port automated guided vehicle(AGV), and to reduce the lateral impact of tires during turning, a hierarchical control strategy based on the coupling of lateral and longitudinal motions is proposed. The lateral model predictive control(MPC) controller is constructed based on the AGV’s two-degree-of-freedom dynamic model. The MPC weights matrix is optimized offline using a Genetic Algorithm, and a weight selection mechanism is designed based on the transportation conditions to determine the optimal control input for the front wheel steering angle. Based on factors such as road conditions, steering mechanism constraints, and the coupling characteristics of AGV’s longitudinal and lateral movements, a longitudinal trapezoidal speed planner is designed. A hierarchical control approach is used to design an upper-level sliding mode controller and lower-level proportional integral controller. The desired acceleration of the AGV is computed in real-time and converted into throttle/brake control inputs. Finally, simulation and physical testing verification are conducted on typical operational conditions of empty/load AGV using the joint simulation platform of Matlab/Simulink and Trucksim, as well as the port platform developed by the research team. The experimental results show that the proposed control strategy can significantly improve AGV’s stopping accuracy and cornering stability, and reduce tire forces during turning. A new thought process for solving the problems of poor steering stability and high tire damage in port AGVs is provided in the research.

Key words: lateral/longitudinal motion coupling, hierarchical control, genetic algorithm, speed planner, sliding mode controller

CLC Number:

TP242

LI Wenfeng, ZHANG Qiang, ZHONG Zhihang, GUO Long. Lateral and Longitudinal Hierarchical Control of Port AGV Considering Coupling Characteristics[J]. Journal of Mechanical Engineering, 2025, 61(14): 383-396.

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