Improvement of Motion Stability for AGV Using Pure-Pursuit Path Tracking Algorithm

This study has improved Pure-Pursuit path tracking algorithm for automated guided vehicle (AGV) to obtain the motion stability. Pure-Pursuit algorithm is the most commonly used in path tracking. This algorithm computes the linear velocity and angular velocity of the robot to move it from its current position to reach a designated look-ahead point. Pure-Pursuit and its modified algorithms have been developed to improve tracking accuracy and maintain the stability of the AGV. With the same objectives, this paper has developed a path tracking algorithm in which the position error of the AGV is related directly to the velocity functions during tracking process. The results show that the proposed method not only improves the tracking accuracy but also increases stability of the AGV. This method can be applied in path tracking for AGV in reality.