AGV trolley motion control method, device and equipment and storage medium

The invention belongs to the technical field of AGVs, and discloses an AGV motion control method, device and equipment and a storage medium. The method comprises the steps that the cargo weight and the target speed of the AGV are acquired; the target state of the AGV trolley is detected; when the target state is an acceleration state, motor compensation torque is determined according to the cargo weight and the target speed; and performing acceleration compensation on the AGV according to the motor compensation torque. By means of the mode, stable control over the AGV is achieved, differential torque compensation is conducted on the AGV in the starting stage according to the load and the target speed of the AGV so that it can be guaranteed that the AGV can rapidly and stably reach the target speed, the working efficiency of the AGV is improved through torque compensation, and it can be guaranteed that in the torque compensation process, the working efficiency of the AGV is improved through differential contro