基于视觉的AGV两轮差速转向最优控制研究  

Optimal control of a two-wheel difference speed steering AGV based on machine vision

作　　者：王晓亮[1] 詹跃东[1] 艾青[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,昆明650051

出　　处：《信息技术》2009年第7期1-5,9,共6页Information Technology

基　　金：云南省自然科学基金资助项目(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。提出了一种采用最优控制方法对两轮差速转向进行控制。仿真和实验结果表明,采用最优控制方法对两轮差速转向进行控制,样车运行过程稳定,路径跟踪可靠,控制性能良好。This paper introduces simply the principle and composition of a two-wheel difference speed steering AGV based on machine vision guiding, and states generally problems about the computer control system design, linage information recognizing etc. The optimum controller design is put forward to control the two-wheel difference speed steering AGV. The simulation and experimental results show that the two-wheel difference speed steering AGV controlled by the optimum controller could move steadily, follow path reliably and get the control performances well.

关 键 词：V-AGV 差速转向 最优控制 线性二次型 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]