基于最优偏差路径的自动导引车纠偏方法

发布时间：2019-04-22 17:22

【摘要】：针对使用二维码作为定位模块的视觉自动导引车(AGV)的轨迹跟踪问题,提出了一种基于最优偏差路径的模糊PID纠偏算法。首先建立AGV的运动学方程,将横向偏差和航向偏差作为控制系统的输入变量;其次引入Hamilton最优控制函数,得到基于最优偏差转化策略的AGV最优偏差路径和最优控制方程;最后以AGV与最优偏差路径之间的位姿偏差更新模糊PID控制器的参数,实时调节驱动轮的差速,使AGV按最优偏差路径行驶,实现AGV纠偏的最优控制。实验结果表明,该方法可以平稳、快速地消除横向和航向偏差,本文控制方法在极端偏差状态下的4种隶属度区间的横向偏差纠偏结果分别为2.38、2.54、3.29和4.43 mm,均不超过5 mm,纠偏距离小于1.2 m,跟踪精度为3.2 mm,既提高无轨导引AGV的导航精度,也能较好地满足系统运行的稳定性和伺服驱动能力。
[Abstract]:Aiming at the trajectory tracking problem of visual automatic guided vehicle (AGV) using 2-D code as positioning module, a fuzzy PID deviation correction algorithm based on optimal deviation path is proposed. Firstly, the kinematics equation of AGV is established and the lateral deviation and heading deviation are regarded as the input variables of the control system, secondly, the Hamilton optimal control function is introduced to obtain the optimal deviation path and the optimal control equation of AGV based on the optimal deviation transformation strategy. Finally, the parameters of the fuzzy PID controller are updated by the position deviation between the AGV and the optimal deviation path, and the differential speed of the driving wheel is adjusted in real time to make the AGV travel according to the optimal deviation path so as to realize the optimal control of the AGV deviation correction. The experimental results show that the proposed method can eliminate the lateral and heading deviations smoothly and rapidly. The results of lateral deviation correction for the four membership ranges in this paper are 2.38,2.54, 3.29 and 4.43 mm, respectively under the condition of extreme deviation. The tracking accuracy of 3. 2 mm, can not only improve the navigation accuracy of trackless guidance AGV, but also satisfy the stability and servo drive ability of the system. The error correction distance is less than 5 mm, and the tracking accuracy is less than 1. 2m. and the tracking accuracy is 3. 2 mm,.
【作者单位】：中国计量大学计量测试工程学院;
【基金】：国家自然科学基金(51675499) 浙江省自然科学基金(LY15E050013)项目资助
【分类号】：TP23

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