AGV motion trail control method

The invention relates to an AGV motion trail control method, and belongs to the field of AGV intelligent parking. The method comprises the steps that S1, determining specific size parameters of the AGV, establishing a coordinate system, and selecting a reference point; S2, determining driving speeds and deflection angles of front and rear steering wheels according to specific size parameters of the AGV; S3, determining the linear velocity at the reference point and the steering angular velocity of the two steering wheels according to the specific size parameters of the AGV; S4, obtaining a kinematic model of the double-steering-wheel AGV according to the parameters; and S5, determining a controller by taking the difference between the actual pose and the theoretical pose of the AGV as theinput of a closed-loop system. The AGV speed can be optimized on the premise of safely and stably carrying vehicles, and the vehicle parking and taking efficiency is improved. 本发明涉及一种AGV运动轨迹控制方法，属于AGV智能停车领域。该方法包括：S1：确定AGV小车的具