视觉AGV差速转向控制方法研究  

Control Methods for AGV Difference Speed Steering Based on Vision

作　　者：艾青[1] 詹跃东[1] 王晓亮[1] 经坤[1] 

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650051

出　　处：《昆明理工大学学报（理工版）》2009年第2期25-29,共5页Journal of Kunming University of Science and Technology(Natural Science Edition)

基　　金：云南省自然科学基金资助项目(项目编号:2003F0029M)

摘　　要：简要地介绍了基于机器视觉导向的AGV两轮差速转向的原理和组成,并对计算机控制系统设计、图像信息识别等AGV控制问题进行了阐述.研究了常规PID控制、线性二次型最优控制与智能控制方法对转向控制的差别.仿真和实验结果表明,智能控制方法相对传统控制方法,无需精确的AGV转向控制数学模型,设计的智能控制器使样车运行过程稳定,路径跟踪可靠,控制性能良好.The principle and composition of a two - wheel difference speed steering AGV based on machine vision guiding are briefly introduced. The control problems, such as the computer control system design and image information recognizing are also generally stated. The steering control differences among the general PID controller, linear quadratic regulator （LQR） optimization controller and the intelligence controller are also studied in this paper. It is shown through the simulation and experimental results that the two -wheel difference speed steering AGV controlled by the designed intelligence controller with no need of the accurate model, compared with the traditional control methods, can move steadily, follow path reliably, and get the control performances very well.

关 键 词：AGV PID控制 线性二次型 模糊控制 HSIC 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]