机电工程技术2024，Vol.53Issue(6)：70-73,108,5.DOI:10.3969/j.issn.1009-9492.2024.06.016
基于MPC的AGV导航控制
AGV Navigation Control Based on MPC
摘要
Abstract
When constructing the structure and kinematics model of automatic guided vehicle AGV,due to the different modelling methods,different choices of the origin of the body coordinate system,front/rear drive and front/rear wheel steering will lead to inconsistent kinematics model results and poor accuracy.Therefore,the AGV control system is designed and the relevant parameters are selected and calculated.Kinematics model of vehicle is constructed,the AGV navigation system and navigation algorithm are designed,and the MPC optimization algorithm is used to improve the trajectory tracking accuracy.The performance and reliability of the AGV control system are compared by simulation experiments.The results show that the improved MPC model has better performance than the traditional controller model and other trajectory tracking methods in improving the trajectory tracking accuracy,which proves that the proposed method can improve the trajectory tracking control accuracy of vehicle running and has high practical value.关键词
AGV小车/MPC最优化模型/控制变量/状态量Key words
AGV vehicle/MPC optimization model/control variable/state variable分类
信息技术与安全科学引用本文复制引用
张香云,周元华..基于MPC的AGV导航控制[J].机电工程技术,2024,53(6):70-73,108,5.基金项目
湖北省教育厅科学技术研究计划指导性项目(B2022470) （B2022470）
