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This paper presents an experimental study on the performance of an Automated Guided Vehicle (AGV) food delivery system using inductive line-following and PID control. The AGV was tested under full load condition (30 kg) on both straight and curved paths. Results show that the AGV performs best with a centrally distributed load, exhibiting minimal error and stable oscillations. However, under full load, oscillations and deviations from the line increase, particularly on curves, where errors can reach ±20 mm. The study highlights the importance of load distribution in navigation accuracy. Comparisons with prior research confirm that uneven loads reduce stability. The paper concludes that optimizing load balancing and PID tuning is crucial for reliable AGV performance in real-world applications, such as food delivery.

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Evaluation and Analysis of AGV Food Delivery Vehicle Performance Using PID Control: Impact of Position and Distance Errors

  • 会议论文

  • 发表日期：

    2026年

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  • Nguyen The Luong,
  • Nguyen Viet Thien,
  • Dam Bao Khiem,
  • Trinh Tuan Anh,
  • Vu Van Phu,
  • Nguyen Truong Giang,
  • Pham Hong Phong,
  • Le Trung Hieu

摘要

This paper presents an experimental study on the performance of an Automated Guided Vehicle (AGV) food delivery system using inductive line-following and PID control. The AGV was tested under full load condition (30 kg) on both straight and curved paths. Results show that the AGV performs best with a centrally distributed load, exhibiting minimal error and stable oscillations. However, under full load, oscillations and deviations from the line increase, particularly on curves, where errors can reach ±20 mm. The study highlights the importance of load distribution in navigation accuracy. Comparisons with prior research confirm that uneven loads reduce stability. The paper concludes that optimizing load balancing and PID tuning is crucial for reliable AGV performance in real-world applications, such as food delivery.