A magnetic field control method for automated guided vehicle based on spatial distribution of magnetic fields

The traditional AGV(Automated Guided Vehicle) magnetic circulation method has the problem of discontinuous magnetic field detection, which seriously affects the subsequent lateral PID adjustment process of the vehicle. This article proposes a magnetic field based control algorithm which takes the total spatial magnetic field intensity detected by multiple magnetic navigation sensors as the measurement value, the total multi-channel magnetic field intensity when the magnetic navigation sensor is located directly above the magnetic guidance path as the standard reference peak, and the difference between the standard reference peak and the measurement value as the lateral position deviation. The lateral position deviation output by this method is a continuous quantity, and the vehicle can achieve continuous adjustment of lateral control values based on the position deviation during driving. The spatial magnetic field distribution pattern of the magnetic guided orbit indicates that the total difference in magnetic field strength in the near-field area near the center of the magnetic guided orbit increases sharply with the increasing deviation distance. This pattern can ensure that the PID adjustment response speed in the near center area is faster, and can enable vehicles to quickly return to the center of the magnetic guided orbit when deviation occurs in the near center area.