AGV position and heading controller

A method of controlling an automatic guide d vehicle (AGV) comprising:

• measuring the AGV's heading;
• measuring the AGV's location;
• providing a first control loop that generates a first steering command based upon any difference between said measured AGV position and a desired AGV position;
• and
• providing a second control loop that generates a second steering command based upon any difference between said measured AGV heading and a desired AGV heading.

A method of controlling an automatic guided vehicle (AGV) comprising:

• measuring the AGV's position;
• determining a desired position for the AGV;
• comparing the AGV's measured position to the desired position for the AGV;
• and
• generating a steering command for the AGV based upon any difference between the measured position of the AGV and the desired position of the AGV, said steering command causing the AGV to reduce any difference between the AGV's measured position and the AGV's desired position without altering the AGV's orientation as the AGV moves.