摘要
目前对于AGV的路径跟踪多采用的是纯跟踪控制模型,对于纯跟踪模型的预瞄距离没有较好的确定办法。为了提高AGV自主导航系统的精度,提出了一种基于纯跟踪模型的AGV路径跟踪模糊控制方法。该方法使用纯跟踪模型进行AGV路径跟踪的控制,同时使用模糊控制器自适应地确定纯跟踪模型中的预瞄距离,提高了纯跟踪控制对路径的适应能力,提高了路径跟踪的精度。
At present,the pure pursuit control model,commonly used for path following of AGVs,lacks an effective way to determine the look-ahead distance.In order to improve the accuracy of the AGV autonomous navigation system,a fuzzy control method of AGV path following based on pure pursuit model is proposed.The method uses a pure pursuit model for the control of AGV path following,and also uses a fuzzy controller to determine the look-ahead distance in the pure pursuit model adaptively.This method improves the adaptability of the pure pursuit control to the path and improves the accuracy of path following.
作者
刘一帆
施光林
陈耀峰
时轮
LIU Yifan;SHI Guanglin;CHEN Yaofeng;SHI Lun(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai SmartState Technology Co.,Ltd.,Shanghai 201306,China)
出处
《机械设计与研究》
CSCD
北大核心
2022年第3期136-140,157,共6页
Machine Design And Research
基金
上海市人工智能创新发展专项(2019-RGZN-01026)。
