Trailer control method based on AGV

The invention discloses a trailer control method based on an AGV, wherein the control method comprises the following steps: A, generating a backing pose point according to a map, a current pose and a target pose after a task starts, and calculating a terminal pose of the advancing motion of the AGV and a terminal pose of the advancing motion to the advancing motion of the AGV according to the backing pose point; and B, controlling the AGV and the trailer by adopting a path tracking (transverse control) and speed planning (longitudinal control) decoupling control mode to judge whether the specified point of the AGV is reached or not. According to the method, the motion control function of the AGV can be fully used, unmanned backing up and cargo loading and unloading can be achieved, the advancing motion efficiency is high, the backing up motion precision is high, the method can be widely applied to logistics carrying in factories, especially application scenes with the high requirement for the backing up contr