A Cooperative Control Method of Differential AGV Based on Leader-Follower Strategy

For the demand of automatic guided vehicles in transporting large and complex parts, a cooperative control method based on Leader-Follower control strategy is proposed for the differential AGV platform. Firstly, the kinematic model of differential AGV and the formation positional error model of AGV are established; then a dual differential AGV cooperative control method based on Leader-Follower strategy is proposed based on Lyapunov's direct method; finally, simulation experiments are conducted to verify the feasibility and effectiveness of the control method.