Research Article

Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Algorithm 1

AGV model simulation algorithm.
{
,
,
, ,
, ,
,
,
If >  + then
   + 
 endIf
If <  + then
   + 
 endIf
Ifthen
  stopSimulation
 endIf
Ifthen
  stopSimulation
 endIf
}endWhile