AGV导引（Guidance）是指根据AGV导航（Navigation）所得到的位置信息，按AGV的路径所提供的目标值计算出AGV的实际控制命令值，即给出AGV的设定速度和转向角，这是AGV控制技术的关键。简单看来，AGV的导引控制就是AGV轨迹跟踪。这对有线式的导引（电磁，磁带等导引方式）不会有太多的问题，但对无线式的导引（激光，惯性等导引方式）却不是一件容易的事。
AGV Guidance refers to calculating the actual control command value of the AGV according to the position information obtained by the AGV Navigation according to the target value provided by the path of the AGV, that is, giving the set speed and steering angle of the AGV, This is the key to AGV control technology. In simple terms, the guidance control of AGV is AGV trajectory tracking. This will not have too many problems with wired guidance (electromagnetic, magnetic tape, etc.), but it is not an easy task for wireless guidance (laser, inertial guidance, etc.).
AGV Running Path Trajectory
AGV的路径规划是根据AGV运行的实际环境设计出AGV运行的路径轨迹，AGV单机按照地面控制系统下发的段表中的路径（段）属性自动行驶。AGV的导引控制算法就是解决段表下发后AGV的参考点如何沿着既定轨迹行走，一般需要实现直线段和四次方曲线的导引控制。对于不同驱动方式的AGV来说，由于它的运动学模型不一样，对应的导引控制算法也是不同的。这里简单讨论SD（Steer Driving）型AGV的导引算法：
The path planning of AGV is to design the path trajectory of AGV operation according to the actual environment of AGV operation, and the AGV single machine automatically travels according to the path (segment) attributes in the segment table issued by the ground control system. The guidance control algorithm of the AGV is to solve how the reference point of the AGV walks along the established trajectory after the segment table is issued. Generally, it is necessary to realize the guidance control of the straight line segment and the quadratic curve. For AGVs with different driving methods, due to their different kinematic models, the corresponding guidance control algorithms are also different. Here is a brief discussion of the steering algorithm of SD (Steer Driving) AGV:
我们的控制目标是AGV的参考点，目的是使AGV能很好地沿着既定轨迹行走。对SD型AGV来说，可以控制的只有AGV前轮的转角和速度，通过运动模型可知：参考点的运行轨迹只和前轮的转向角有关，所以，要实现对参考点轨迹跟踪的控制，实际上就是对前轮转向角的控制。
Our control target is the reference point of the AGV, and the purpose is to make the AGV walk along the established trajectory well. For SD-type AGV, only the rotation angle and speed of the front wheel of the AGV can be controlled. Through the motion model, it can be known that the running trajectory of the reference point is only related to the steering angle of the front wheel. Therefore, to realize the control of the trajectory tracking of the reference point, In fact, it is the control of the steering angle of the front wheels.
在具体的设计过程中，利用一种“追踪导引方法”，即在AGV的运行过程中参考点始终追踪着路径轨迹上的虚拟点，这个虚拟点就像在赛狗时所用到的兔子，AGV永远追不上，但又永远在AGV前面不远的地方；AGV前进的方向始终指向虚拟点，通过这样周期性的调节，就可以使AGV以很小的误差沿着路径轨迹行走。
In the specific design process, a "tracking and guidance method" is used, that is, the reference point always tracks the virtual point on the path track during the operation of the AGV. This virtual point is like the rabbit used in dog racing. The AGV can never catch up, but it is always not far in front of the AGV; the forward direction of the AGV always points to the virtual point. Through such periodic adjustment, the AGV can walk along the path trajectory with a small error.
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