Optimal Path Tracking Control Method of Omni-directional Mobile AGV Based on Pose State

被引：0
|
作者：
Qian X. [1 ,2 ]
Zhu L. [1 ,2 ]
Lou P. [1 ,2 ]
Zhang H. [1 ,2 ]
机构：
[1] College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
[2] Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology, Nanjing
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2018年 / 49卷 / 04期
关键词：
Automatically guided vehicle; Discrete system; Optimal control; Path tracking;
D O I：
10.6041/j.issn.1000-1298.2018.04.002
中图分类号：
学科分类号：
摘要：
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. © 2018, Chinese Society of Agricultural Machinery. All right reserved.
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页码：20 / 26
页数：6
相关论文
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