摘要：【中文】本发明公开了一种基于B样条曲线的AGV运动控制方法，包括如下步骤：（1）根据实际需求，规划AGV必须经过的行止站点；（2）通过行止站点反解控制点；（3）由控制点计算得到B样条参数方程,B样条为三阶B样条；（4）用B样条参数方程表示AGV的行驶路径；（5）采用自适应参数更新算法，进行参数更新，得到实时变化的参考点；（6）结合AGV的实际位姿与期望位姿的误差，得到位姿误差；（7）考虑到实际的AGV的转动惯量，根据AGV行进路径的曲率调节车速v，并根据小车的车速调节角速率ω；（8）采用PID控制方法，消除位姿误差，控制AGV按期望路径运动。本发明基于B样条曲线的AGV运动控制方法，使得AGV行驶路径更光滑；AGV舵轮摆角均匀，AGV运动更平稳。 【EN】The invention discloses an AGV motion control method based on a B spline curve, which comprises the following steps: (1) planning the running and stopping stations which must be passed by the AGV according to the actual requirements; (2) reversely solving the control point through the line stop station; (3) calculating by the control points to obtain a B spline parameter equation, wherein the B spline is a third-order B spline; (4) representing the driving path of the AGV by using a B spline parameter equation; (5) updating parameters by adopting a self-adaptive parameter updating algorithm to obtain a reference point which changes in real time; (6) combining the error of the actual pose and the expected pose of the AGV to obtain a pose error; (7) considering the actual rotational inertia of the AGV, adjusting the speed v according to the curvature of the travel path of the AGV, and adjusting the angular rate omega according to the speed of the trolley; (8) and a PID control method is adopted, so that the pose error is eliminated, and the AGV is controlled to move according to an expected path. According to the AGV motion control method based on the B spline curve, the running path of the AGV is smoother; the AGV steering wheel has even swing angle, and the AGV moves more stably.