Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
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Chapter 2: Basic Principles of Track Guidance
2.6 Track Guidance
The navigation controller includes the track controller. The track controller calculates from
the current position given by the sensor fusion (see section 2.3 on page 10) how to guide
the vehicle to follow the intended track, which is defined by the different segments and their
support points (s. section 2.5 on page 19). The navigation controller outputs:
- Target steering angle
- target speed and
- various additional parameters / information
Figure 20
Example course with a driving job consisting of a combination of segments
The purpose of the navigation controller is to guide the vehicle on the intended track. This
track is compiled from a segment sequence. The segments are stored in the navigation con-
troller and can be addressed via segment numbers. The navigation controller obtains the
particular segment sequence from the vehicle controller which in turn gets the information
either from the guidance / control system (if several vehicles are operated) or executes its
calculation independently (if a single vehicle is concerned).
The navigation controller also calculates the following parts of the track along several sup-
port points (it forms what are known as regressions) and thus constructs the virtual track
that the vehicle is to be driven on. The tracks between the support points are reconstructed
Vehicle
Segment 1
Segment 2
Segment 6
Segment 4
Segment 3
Segment 5
Segment 7
Segment 8
Driving job:
Segments 1, 2, 3, 7
