农业机械学报2018，Vol.49Issue(4)：20-26,7.DOI:10.6041/j.issn.1000-1298.2018.04.002
基于位姿状态的全向运行型AGV路径跟踪优化控制方法
Optimal Path Tracking Control Method of Omni-directional Mobile AGV Based on Pose State
摘要
Abstract
An optimal control method based on pose state and limited steps of control sequences was presented for path tracking of an omni-directional mobile automated guided vehicles (AGV),as the key of automated guided vehicle autonomous movement was precise path tracking.Firstly,under the system constraints,the continuous system was discretized by establishing the kinematic model and analyzing the kinematic model of the system.Secondly,by selecting the two order integral function as the objective function of the optimal control,a selection of weighted matrix for optimal control was avoided when an objective function only included one item of speed control and a control sequence of the system control quantity was obtained by minimizing objective function.Meanwhile,the limited steps of control sequences were also beneficial to the rolling control of real time embedded controller.In addition,the control efficiency of the system can be improved by reducing the number of control steps under the condition that the control cycle was determined and the control performance was satisfied.Finally,simulation and experiment results showed that when the system was stable,the angle error of the path tracking was within 2°,the distance error was less than 2 mm,and the control time was 0.8 ～ 1.2 s.Thus the algorithm can eliminate pose error quickly,synchronously and stably for different speeds,and the computation was small and convenient.关键词
路径跟踪/优化控制/自动导引车/离散系统Key words
path tracking/optimal control/automatically guided vehicle/discrete system分类
信息技术与安全科学引用本文复制引用
钱晓明,朱立群,楼佩煌,张沪松..基于位姿状态的全向运行型AGV路径跟踪优化控制方法[J].农业机械学报,2018,49(4):20-26,7.基金项目
江苏省重点研发计划项目(BE2016004-3)和中央高校基本科研业务费专项资金项目(NS2017028) （BE2016004-3）
