This paper presents a Lyapunov-based switched trajectory tracking control design
for a rear-steered automated guided AGV (AGV). Given a moving reference whose
position and orientation have to be tracked by the AGV, the main objective of the
controller is to reduce AGV’s distance from the reference while adjusting its
orientation. The distance reduction issue is important, especially in huge warehouses
operating a group of AGVs, since the rate of AGV-to-reference distance reduction
contributes to the possibility of AGV-to-AGV collision. A set of control algorithms
is proposed to handle large AGV’s orientation. Simulations that show the
performance of the proposed method is presented