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.
QIAN Xiaoming,ZHU Liqun,LOU Peihuang,ZHANG Husong.Optimal Path Tracking Control Method of Omni-directional Mobile AGV Based on Pose State[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(4):20-26.
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基于位姿状态的全向运行型AGV路径跟踪优化控制方法   [下载全文]
Optimal Path Tracking Control Method of Omni-directional Mobile AGV Based on Pose State   [Download Pdf][in English]
投稿时间:2017-10-24  
DOI:10.6041/j.issn.1000-1298.2018.04.002
中文关键词:  路径跟踪  优化控制  自动导引车  离散系统
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)
作者单位
钱晓明 南京航空航天大学 
朱立群 南京航空航天大学 
楼佩煌 南京航空航天大学 
张沪松 南京航空航天大学 
中文摘要:自动导航车自主移动的关键是精准的路径跟踪,针对Mecanum轮全方位移动AGV的路径跟踪,提出了一种基于位姿状态和有限控制步数的路径跟踪优化控制方法。在系统约束条件下,通过建立系统的运动学模型,将连续的系统离散化。在目标函数中只包含速度控制量,同时通过最小化目标函数,得到系统控制量的控制序列,从而避免了最优控制的加权矩阵选择难的问题。此外,有限步的控制序列也有利于实时嵌入式控制器的滚动控制。仿真和实验表明,对于不同速度,该算法均能快速、同步、稳定地消除位姿偏差,且计算量小、方便。
QIAN Xiaoming  ZHU Liqun  LOU Peihuang  ZHANG Husong
Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics and Nanjing University of Aeronautics and Astronautics
Key Words:path tracking  optimal control  automatically guided vehicle  discrete system
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 0.8~1.2s. Thus the algorithm can eliminate pose error quickly, synchronously and stably for different speeds, and the computation was small and convenient.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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