Clothoid-Based Path Correction for AGV Navigation

Abstract

The paper focuses on improving the path quality for automated guided vehicle (AGV) navigation. In certain situations where AGVs are deployed in risky or hazardous areas, operators manually drive them to record the path. This recorded path is later used as a reference for the path tracker. However, the recorded path may contain inaccuracies, resulting in undesirable and jerky motion. To address this issue and eliminate inaccurate data, it is necessary to thoroughly check all the path data. In order to automate this process, we propose a clothoid-based approach that takes the recorded path and generates a corrected path. We validated the approach through field experiments using a commercial AGV operating in a factory environment. © 2023 IEEE.