The invention relates to an automatic guided vehicle (AGV) adaptive
path tracking method based on MPC. The method comprises the following steps: S1, establishing a kinematic
discretization error model based on the kinematic characteristics of the two-wheel differential AGV,
processing a continuous kinematic equation by adopting an Euler
discretization method, expressing a dynamic change relationship between a transverse deviation distance and an angle deviation in a state-space equation form, and generating a kinematic discrete state-
space model; the method has the advantages that the continuous equation is processed by establishing the
kinematics discretization error model and adopting the Euler discretization method, the deviation dynamic relation is expressed through the
state space, the calculation process is simplified, the precision is kept, sensor data are fused, the wheel type
odometer, IMU and
laser data are integrated through the extended
Kalman filtering algorithm, and the precision is improved. The real-time position and angle deviation are calculated, the positioning accuracy is improved, a
model prediction controller objective function is designed, a weight matrix and boundary constraint are introduced according to constraint conditions, and the effect of
obstacle avoidance constraint is combined.