Portable factory AGV following method based on UWB non-base station

The invention discloses a portable factory AGV following method based on a UWB non-base station. Non-base station type arrangement is carried out on a factory site, and target signal sources are suspended in air, so that a rail on the ground is transported into the air to form a movable trackless rail; a plurality of AGVs are adopted to follow the target signal sources, so that the following pathof the AGVs is flexible and free. In a following algorithm, multiple closed-loop control is carried out based on a fuzzy PID algorithm, and attitude fusion of a gyroscope is also used, so that the following stability and flexibility are ensured. In the site arrangement process, the non-base station type convenient arrangement ensures that paths can still be planned through other signal sources ifone target signal source has a problem, which is different from the situation that a whole system crashes if one base station is damaged. The scheme overcomes various obvious defects of a traditionaltracked AGV and a base stat