Single-rudder wheel AGV path following method and system based on pure pursuit algorithm

Abstract

The application discloses a single-rudder wheel AGV path following method and system based on a pure tracking algorithm, and the method comprises the following steps: performing cubic B-spline curve fitting on a plurality of control points prepared in advance to obtain a motion trajectory of the single-rudder wheel AGV, wherein the motion trajectory is composed of a plurality of curve path segments; establishing a pure tracking model of the single-rudder wheel AGV and simultaneously determining a vehicle body reference point of the single-rudder wheel AGV in a moving process; calculating coordinate information of a preview point according to a geometric relationship among a preview mark length, a moving length of the vehicle body reference point on a curve path segment where the vehicle body reference point is located and a total length of the curve path segment where the vehicle body reference point is located; and inputting the coordinate information of the preview point into the pure tracking model for calculation to obtain a rudder wheel output steering angle and a rudder wheel speed of the single-rudder wheel AGV. The single-rudder wheel AGV can improve the moving stability and the path following precision by dynamically updating the coordinate of the preview point in the moving process of the single-rudder wheel AGV.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV application, in particular to a single rudder wheel AGV path following method and system based on a pure tracking algorithm. BACKGROUND

[0002] As a mainstream control algorithm, the pure tracking algorithm is widely used in the field of unmanned driving control due to its high control accuracy and strong robustness. Since the single rudder wheel AGV (Automated Guided Vehicle) moves at a slow speed and often moves in a relatively smooth environment, a relatively simple control method is usually used. However, with the advent of Industry 4.0, the precision requirements for AGV trajectory following in various complex application scenarios are becoming increasingly demanding, especially when AGV is under high load and high-speed turning. The previous simple control method has the disadvantages of large error and delay, which makes the AGV prone to derail. Therefore, how to use the pure tracking algorithm to control the path following of the single rudder wheel AGV during movement is a technical problem to be solved by the present application. SUMMARY

[0003] The present application provides a single rudder wheel AGV path following method and system based on a pure tracking algorithm to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The present application provides a single rudder wheel AGV path following method based on a pure tracking algorithm, which comprises:

[0005] A third B-spline curve fitting is performed on a plurality of control points predetermined in advance to obtain a motion trajectory of the single rudder wheel AGV, and the motion trajectory is composed of a plurality of curve path segments;

[0006] A pure tracking model of the single rudder wheel AGV is established, and a body reference point of the single rudder wheel AGV during movement is determined;

[0007] According to the geometric relationship between the pre-lookahead length, the moving length of the body reference point on the curve path segment where it is located, and the total length of the curve path segment where the body reference point is located, the coordinate information of the pre-lookahead point is calculated;

[0008] The coordinate information of the pre-lookahead point is input into the pure tracking model for calculation to obtain the rudder wheel output steering angle and rudder wheel speed of the single rudder wheel AGV.

[0009] Further, the calculation process of the coordinate information of the pre-lookahead point comprises:

[0010] When S k (t r )+L pp≤S k When S k (t r ) + L pp > S k (1), it is determined that the preview point falls on the next curve path segment next to the curve path segment where the vehicle reference point is located, and the next curve path segment is recorded as a second curve path segment;

[0011] The first movement coefficient of the preview point on the first curve path segment is calculated by using Newton iteration method;

[0012] The coordinate information of the preview point is calculated in combination with the first movement coefficient and the coordinate information of all control points constituting the first curve path segment.

[0013] Further, the calculation process of the coordinate information of the preview point further includes:

[0014] When S k (t r ) + L pp > S k (1) and the curve path segment where the vehicle reference point is located is not the last curve path segment on the motion trajectory, it is determined that the preview point falls on the next curve path segment next to the curve path segment where the vehicle reference point is located, and the next curve path segment is recorded as a second curve path segment;

[0015] The second movement coefficient of the preview point on the second curve path segment is calculated by using Newton iteration method;

[0016] The coordinate information of the preview point is calculated in combination with the second movement coefficient and the coordinate information of all control points constituting the second curve path segment.

[0017] Further, the calculation process of the coordinate information of the preview point further includes:

[0018] When S k (t r ) + L pp > S k (1) and the curve path segment where the vehicle reference point is located is the last curve path segment on the motion trajectory, it is determined that the preview point falls outside the motion trajectory;

[0019] The coordinate information of the preview point is calculated according to the coordinate information of the end point of the motion trajectory and a given shock-absorbing distance parameter.

[0020] Further, based on the fact that the single-steering-wheel AGV is loaded with an encoder connected with the steering wheel, the calculation formula of the preview mark length is:

[0021] L pp =K*v0+L c

[0022] wherein K is a speed proportion parameter, v0 is a real-time speed read by the encoder, L is a set displacement parameter. c

[0023] Further, the inputting the coordinate information of the preview point into the pure pursuit model for calculation to obtain the steering angle and the steering wheel speed of the single steering wheel AGV comprises:

[0024] In the pure pursuit model, a preview distance and a preview included angle are calculated according to the coordinate information of the preview point and the coordinate information of the vehicle body reference point.

[0025] The steering wheel angle of the single steering wheel AGV is calculated according to the preview distance and the preview included angle.

[0026] The steering wheel speed is calculated according to the given driving speed of the single steering wheel AGV and the steering wheel angle.

[0027] The steering wheel output steering angle is obtained by converting the steering wheel angle by using the Ackerman steering principle.

[0028] Further, based on that the single steering wheel AGV is loaded with a laser navigator and that there is a fixed position relationship between the laser navigator and the vehicle body reference point, the coordinate information of the vehicle body reference point is obtained by spatial coordinate conversion on the coordinate information of the position where the laser navigator is located.

[0029] In addition, the embodiment of the present application also provides a single steering wheel AGV path following system based on a pure pursuit algorithm, which comprises:

[0030] at least one processor;

[0031] at least one memory for storing at least one program;

[0032] When the at least one program is executed by the at least one processor, the at least one processor realizes the single steering wheel AGV path following method based on the pure pursuit algorithm.

[0033] ​The present application has at least the following beneficial effects: by dynamically updating the preview point coordinates of the single-rudder AGV during movement, the preview distance of the single-rudder AGV is a variable value, rather than directly specifying the preview distance as a pre-specified preview mark length in the prior art, which not only solves the problem of rudder oscillation of the single-rudder AGV due to too short preview distance when moving at high speed in a straight line, i.e. effectively improves the movement stability of the single-rudder AGV, but also solves the problem of poor following of the single-rudder AGV due to too long preview distance when moving in a curve, i.e. effectively improves the path following accuracy of the single-rudder AGV, and has good application effect. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification, and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0035] Figure 1 is a flowchart of a single-rudder AGV path following method based on a pure tracking algorithm in an embodiment of the present application;

[0036] Figure 2 is a planar schematic diagram of a vehicle body model of a single-rudder AGV in an embodiment of the present application;

[0037] Figure 3 is a pure tracking model schematic diagram of a single-rudder AGV in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the present application.

[0039] It should be noted that although the functional modules are divided in the system schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the system or the order in the flowchart. The terms "first", "second", etc. in the specification and claims and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0040] Reference should be made to Figure 1 , Figure 1 is a flowchart of a single-rudder AGV path following method based on a pure tracking algorithm provided in an embodiment of the present application, and the method comprises the following steps:

[0041] S101, perform cubic B-spline curve fitting on the several control points to obtain a motion trajectory of the single-steering-wheel AGV, and the motion trajectory is composed of several curve path segments.

[0042] In the embodiment of the present application, when the number of the several control points is 4N, the motion trajectory of the single-steering-wheel AGV can be regarded as being composed of N curve path segments, and each curve path segment is composed of four control points, where N is a positive integer and N≥3.

[0043] After performing the step S101, the starting point coordinate information and the ending point coordinate information of each curve path segment of the several curve path segments and the coordinate information of each control point of the several control points should also be recorded at the same time.

[0044] S102, establish a pure tracking model of the single-steering-wheel AGV and determine a body reference point of the single-steering-wheel AGV in the moving process.

[0045] In the embodiment of the present application, the single-steering-wheel AGV at least includes an AGV body and two rear auxiliary driven wheels, a laser navigator and a steering wheel loaded on the AGV body, as shown in Figure 2 A body reference point is set between the two rear auxiliary driven wheels, where L is a longitudinal distance between the steering wheel and the body reference point, K is a transverse distance between the steering wheel and the body reference point, and d is a distance between the laser navigator and the body reference point.

[0046] Based on the body model of the single-steering-wheel AGV, a pure tracking model of the single-steering-wheel AGV is established to assist in calculating a steering wheel output steering angle and a steering wheel speed of the single-steering-wheel AGV, as shown in Figure 3 , where L d is a preview distance, α is a preview included angle, r is a curvature radius of the motion trajectory, e is a transverse distance between the steering wheel and a preview point, and δ is a steering wheel steering angle of the single-steering-wheel AGV.

[0047] S103, calculate coordinate information of the preview point according to a geometric relationship among a preview mark length, a moving length of the body reference point on the curve path segment where the body reference point is located and a total length of the curve path segment where the body reference point is located.

[0048] Before performing the above step S103, based on that an encoder connected with the steering wheel is loaded on the single-steering-wheel AGV (the encoder is actually arranged inside the AGV body and is not marked in Figure 2 , the preview mark length is calculated as follows:

[0049] L pp =K*v0+Lc

[0050] wherein K is a speed proportionality parameter, v0 is the real-time speed read by the encoder, L is the look-ahead length c is a set displacement parameter.

[0051] In the process of performing the above step S103, according to the geometric relationship between the look-ahead length L pp , the moving length S k (t r ) of the vehicle body reference point on the curve path segment where the vehicle body reference point is located, and the total length S k (1) of the curve path segment where the vehicle body reference point is located, the relative position relationship between the look-ahead point and the curve path segment where the vehicle body reference point is located can be determined in priority, as follows:

[0052] When S k (t r )+L pp ≤S k (1), it is determined that the look-ahead point falls on the curve path segment where the vehicle body reference point is located and is recorded as a first curve path segment.

[0053] When S k (t r )+L pp >S k (1) and the curve path segment where the vehicle body reference point is located is not the last curve path segment on the motion trajectory, it is determined that the look-ahead point falls on the next curve path segment next to the curve path segment where the vehicle body reference point is located and is recorded as a second curve path segment.

[0054] When S k (t r )+L pp >S k (1) and the curve path segment where the vehicle body reference point is located is the last curve path segment on the motion trajectory, it is determined that the look-ahead point falls outside the motion trajectory and the distance between the look-ahead point and the end point of the motion trajectory is less than the distance between the look-ahead point and the start point of the motion trajectory.

[0055] In the embodiment of the present application, when the look-ahead point falls on the first curve path segment, the calculation process of the coordinate information of the look-ahead point includes the following steps:

[0056] Step 1.1, the first moving coefficient of the look-ahead point on the first curve path segment is calculated by using Newton iteration method, and the corresponding iterative calculation formula is as follows:

[0057]

[0058] The above iterative calculation formula is used for cyclic operation, and when the accuracy reaches the tolerance standard, the iteration is stopped and the final iteration result is output, that is, the first movement coefficient r of the preview point on the first curve path segment p,k ;

[0059] Step 1.2, combining the first movement coefficient and the coordinate information of all control points constituting the first curve path segment, the coordinate information of the preview point is calculated as:

[0060]

[0061] Wherein, is the first movement coefficient output when the j+1th iteration is performed, is the first movement coefficient output when the jth iteration is performed, is the movement length of the preview point on the first curve path segment when the jth iteration is performed, is the movement speed of the preview point on the first curve path segment when the jth iteration is performed, p is the horizontal coordinate information of the preview point in the plane coordinate system, p is the vertical coordinate information of the preview point in the plane coordinate system, is the horizontal coordinate information of the four control points constituting the first curve path segment in the plane coordinate system, is the vertical coordinate information of the four control points constituting the first curve path segment in the plane coordinate system, r is the movement coefficient of the vehicle body reference point on the first curve path segment.

[0062] In the embodiment of the application, when the preview point falls on the second curve path segment, the calculation process of the coordinate information of the preview point includes the following:

[0063] Step 2.1, the second movement coefficient of the preview point on the second curve path segment is calculated by using Newton iteration method, and the corresponding iterative calculation formula is:

[0064]

[0065] The above iterative calculation formula is used for cyclic operation, and when the accuracy reaches the tolerance standard, the iteration is stopped and the final iteration result is output, that is, the second movement coefficient t of the preview point on the second curve path segment p,k+1 ;

[0066] Step 2.2, combining the second movement coefficient and the coordinate information of all control points constituting the second curve path segment, the coordinate information of the preview point is calculated as:

[0067]

[0068] in, The second shift coefficient output during the (j+1)th iteration. The second shift coefficient output during the j-th iteration. The length of the target point's movement on the second curve path segment during the j-th iteration. The speed at which the target point moves on the second curved path segment during the j-th iteration. This refers to the abscissa information of the four control points that constitute the second curve path segment in the plane coordinate system. This refers to the ordinate information of the four control points that constitute the second curve path segment in the plane coordinate system.

[0069] In this embodiment of the invention, the calculation process for any one of the moving lengths mentioned in the above two iterative calculation formulas is as follows:

[0070] First, we introduce the existing three-point Gauss-Legend integral formula:

[0071]

[0072] Secondly, referring to the conversion relationships of the Gauss-Legend integral formulas mentioned above, the formula for calculating any shift length can be obtained using numerical integration:

[0073]

[0074] In the formula, t o S(t) represents the movement coefficient of point O on its curved path segment. In this embodiment of the invention, point O actually refers to the vehicle reference point or the pre-aiming point. o Let be the distance point O moves along the curve path segment it occupies, and v(u) represent the velocity function. The calculated value is the change in the movement coefficient of point O on its curve path segment. The corresponding movement speed at that time The calculated value is the change in the movement coefficient of point O on its curve path segment. The corresponding movement speed at that time The calculated value is the change in the movement coefficient of point O on its curve path segment. The corresponding movement speed at that time.

[0075] The derivation process of the velocity function v(u) in this embodiment of the invention is explained in detail below:

[0076] Assume that the moving coefficient of point O on the curve path segment where it is located is u, and the value range of u is [0, 1], when u = 0, it means that point O falls on the starting point of the curve path segment where it is located, when u = 1, it means that point O falls on the ending point of the curve path segment where it is located;

[0077] Firstly, the solving formula of the coordinate information of point O on the curve path segment where it is located is established as:

[0078]

[0079] Further, the first-order derivative is obtained as:

[0080]

[0081] Secondly, according to the above first-order derivative result, the solving formula of the moving speed of point O on the curve path segment where it is located is derived as:

[0082]

[0083] In the formula, x(u) refers to the solving formula of the horizontal coordinate information of point O on the curve path segment where it is located, is the horizontal coordinate information of the four control points of the curve path segment where point O is located under the plane coordinate, is the vertical coordinate information of the four control points of the curve path segment where point O is located under the plane coordinate, refers to the solving formula of the first speed component (on the horizontal coordinate axis) of point O when it moves on the curve path segment where it is located, refers to the solving formula of the second speed component (on the vertical coordinate axis) of point O when it moves on the curve path segment where it is located.

[0084] As described above, when the moving coefficient t of point O on the curve path segment where it is located o is a known value, by substituting into the above solving formula of and v(u), the specific value of can be solved, by substituting into the above solving formula of and v(u), the specific value of can be solved, by substituting into the above solving formula of and v(u), the specific value of can be solved, and then the moving length S(t o ) of point O on the curve path segment where it is located can be solved.

[0085] It should be noted that the first movement coefficient of the preview point on the first curve path segment and the second movement coefficient of the preview point on the second curve path segment are solved by Newton iteration method, and the movement coefficient t of the vehicle body reference point on the first curve path segment is solved by a specific calculation formula, which is as follows: r

[0086]

[0087] Wherein, X r is the horizontal coordinate information of the vehicle body reference point in the plane coordinate system, Y r is the vertical coordinate information of the vehicle body reference point in the plane coordinate system, is the horizontal coordinate information of the starting point of the first curve path segment in the plane coordinate system, is the vertical coordinate information of the starting point of the first curve path segment in the plane coordinate system, is the horizontal coordinate information of the ending point of the first curve path segment in the plane coordinate system, is the vertical coordinate information of the ending point of the first curve path segment in the plane coordinate system.

[0088] Wherein, the coordinate information of the vehicle body reference point in the plane coordinate system is obtained by space coordinate conversion on the coordinate information of the position of the laser navigator, that is, according to the fixed position relationship between the laser navigator and the vehicle body reference point marked in the formula (1), the coordinate information of the vehicle body reference point in the plane coordinate system can be calculated as: Figure 2

[0089]

[0090] Wherein, X mea is the horizontal coordinate information of the position of the laser navigator in the plane coordinate system, Y mea is the vertical coordinate information of the position of the laser navigator in the plane coordinate system, and θ mea is the movement heading angle of the laser navigator.

[0091] In the embodiment of the application, when the preview point falls outside the movement trajectory, according to the coordinate information of the ending point of the movement trajectory and the given shock absorption distance parameter, the coordinate information of the preview point is calculated as:

[0092]

[0093] Wherein, X e,n is the horizontal coordinate information of the ending point (that is, the ending point of the Nth curve path segment) of the movement trajectory in the plane coordinate system, Y​​e,n is the longitudinal coordinate information of the end point of the motion trajectory in the plane coordinate system, θ e,n is the motion heading angle of the end point of the motion trajectory, and D is a damping distance parameter set by the technical personnel.

[0094] S104, input the coordinate information of the preview point into the pure tracking model for calculation to obtain the rudder output steering angle and rudder speed of the single-rudder AGV.

[0095] In the embodiment of the present application, the specific implementation process of the above step S104 includes the following:

[0096] First, according to the coordinate information of the preview point and the coordinate information of the vehicle body reference point calculated in the above step S103, the preview distance and the preview included angle are calculated as:

[0097]

[0098] Secondly, the conversion relationship between the preview distance, the preview included angle and the radius of curvature is derived by the sine theorem as:

[0099]

[0100] Further, the rudder angle of the single-rudder AGV is calculated according to the above conversion relationship as:

[0101]

[0102] Then, according to the given driving speed of the single-rudder AGV and the rudder angle, the rudder speed is calculated as:

[0103] v d = v*cosδ

[0104] Finally, the rudder output steering angle is obtained by converting the rudder angle using the Ackerman steering principle as:

[0105]

[0106] In the formula, X r is the horizontal coordinate information of the vehicle body reference point in the plane coordinate system, Y r is the longitudinal coordinate information of the vehicle body reference point in the plane coordinate system, θ r is the motion heading angle of the vehicle body reference point, v is the given driving speed of the single-rudder AGV, v d is the rudder speed of the single-rudder AGV, δ out is the rudder output steering angle of the single-rudder AGV.

[0107] In the embodiment of the present application, by dynamically updating the preview point coordinates of the single-rudder AGV during the movement of the single-rudder AGV, the preview distance of the single-rudder AGV is a variable value, rather than directly being a pre-specified preview mark length as in the prior art. This not only solves the problem of rudder oscillation of the single-rudder AGV due to a too short preview distance when the single-rudder AGV moves at high speed in a straight line, i.e. effectively improves the movement stability of the single-rudder AGV, but also solves the problem of poor following of the single-rudder AGV due to a too long preview distance when the single-rudder AGV moves in a curve, i.e. effectively improves the path following accuracy of the single-rudder AGV, and has good application effect.

[0108] In addition, the embodiment of the present application also provides a single-rudder AGV path following system based on a pure tracking algorithm, and the system comprises:

[0109] at least one processor;

[0110] at least one memory for storing at least one program;

[0111] When the at least one program is executed by the at least one processor, the at least one processor implements the single-rudder AGV path following method based on the pure tracking algorithm in any of the above embodiments.

[0112] The contents in the above method embodiments are all applicable to the system embodiment, the system embodiment realizes the same functions as the above method embodiments, and achieves the same beneficial effects as the above method embodiments.

[0113] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is a control center of the single-rudder AGV path following system based on the pure tracking algorithm, and connects each part of the entire single-rudder AGV path following system based on the pure tracking algorithm through various interfaces and lines.

[0114] The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the single-rudder AGV path following system based on the pure tracking algorithm by running or executing the computer program and / or modules stored in the memory and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area is used to store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), and the like; and the data storage area is used to store data (such as audio data, a phone book, etc.) created according to use of the mobile phone, and the like. In addition, the memory can include a high-speed random access memory, and can also include a nonvolatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0115] Although the description of the application has been quite extensive in the interest of being thorough, the application is not limited to that which is described or illustrated herein, but rather, the scope of the application is to be limited only by the appended claims, given the full scope of equivalents, regardless of whether they are recited in the claims or not. Furthermore, the above-discussion is intended to be merely illustrative of the present application and not to limit the same thereof as broadly described in the appended claims.

Claims

1. A path following method for a single-steering wheel AGV based on a pure tracking algorithm, characterized in that, The method includes: A cubic B-spline curve is fitted to a number of pre-defined control points to obtain the motion trajectory of a single-steering wheel AGV, and the motion trajectory is composed of a number of curved path segments. A pure tracking model of the single-steering-wheel AGV is established, and the vehicle body reference point of the single-steering-wheel AGV during the movement process is determined. Based on the geometric relationship between the pre-aiming mark length, the moving length of the vehicle reference point on its curved path segment, and the total length of the curved path segment where the vehicle reference point is located, the coordinate information of the pre-aiming point is calculated. The coordinate information of the pre-aiming point is input into the pure tracking model for calculation to obtain the steering wheel output angle and steering wheel speed of the single steering wheel AGV; The calculation process for the coordinate information of the pre-aiming point includes: when When the aiming point falls on the curved path segment where the vehicle body reference point is located, it is recorded as the first curved path segment, and The distance the vehicle body reference point moves along the first curved path segment is [length]. To indicate the length of the target, The total length of the first curved path segment is given; the first movement coefficient of the aiming point on the first curved path segment is calculated using Newton's iteration method; the coordinate information of the aiming point is calculated by combining the first movement coefficient and the coordinate information of all control points constituting the first curved path segment. when When the curved path segment where the vehicle reference point is located is not the last curved path segment on the motion trajectory, it is determined that the aiming point falls on the next curved path segment immediately following the curved path segment where the vehicle reference point is located and is recorded as the second curved path segment; the second movement coefficient of the aiming point on the second curved path segment is calculated using the Newton iteration method; and the coordinate information of the aiming point is calculated by combining the second movement coefficient and the coordinate information of all control points constituting the second curved path segment. when When the curve path segment where the vehicle body reference point is located is the last curve path segment on the motion trajectory, it is determined that the aiming point falls outside the motion trajectory; based on the coordinate information of the end point of the motion trajectory and the given damping distance parameters, the coordinate information of the aiming point is calculated.

2. The single-steering wheel AGV path following method based on a pure tracking algorithm according to claim 1, characterized in that, Based on the fact that the single-steering-wheel AGV is equipped with an encoder connected to the steering wheel, the formula for calculating the pre-aiming mark length is: in, For speed proportional parameters, The real-time speed read by the encoder. The displacement parameters are set.

3. The single-steering wheel AGV path following method based on a pure tracking algorithm according to claim 1, characterized in that, The step of inputting the coordinate information of the pre-aiming point into the pure tracking model for calculation to obtain the steering wheel output angle and steering wheel speed of the single steering wheel AGV includes: In the pure tracking model, the aiming distance and aiming angle are calculated based on the coordinate information of the aiming point and the coordinate information of the vehicle body reference point. The steering wheel angle of the single steering wheel AGV is calculated based on the pre-aiming distance and the pre-aiming angle. The steering wheel speed is calculated based on the given travel speed of the single steering wheel AGV and the steering wheel rotation angle. The steering wheel angle is converted using the Ackermann steering principle to obtain the steering wheel output angle.

4. The single-steering wheel AGV path following method based on a pure tracking algorithm according to claim 3, characterized in that, Based on the laser navigation device mounted on the single-steering wheel AGV and the fixed positional relationship between the laser navigation device and the vehicle reference point, the coordinate information of the vehicle reference point is obtained by spatial coordinate transformation of the coordinate information of the location of the laser navigation device.

5. A single-steering wheel AGV path following system based on a pure tracking algorithm, characterized in that, The system includes: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the single-steering wheel AGV path following method based on a pure tracking algorithm as described in any one of claims 1 to 4.

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