基于视觉引导AGV路径跟踪模糊控制研究  

Fuzzy Control for Path Following of AGV Based on Vision Guided

作　　者：刘沙沙[1] 魏生民[1] 薛瀛[1] 汪焰恩[1] 

机构地区：[1]西北工业大学现代设计与集成制造技术教育部重点实验室,陕西西安710072

出　　处：《机床与液压》2009年第8期108-111,共4页Machine Tool & Hydraulics

基　　金：航空支撑基金项目(05c53002);高等学校博士学科点专项科研基金项目(20050699032)

摘　　要：在分析AGV的运动模型的基础上,采用模糊控制方法对AGV路径跟踪进行控制,并利用MATLAB中模糊逻辑工具箱(Fuzzy Logic Control)设计了一个优化的、适用于AGV视觉导引系统实现路径跟踪的模糊控制器,并对其进行了仿真。仿真结果表明该模糊控制器的控制策略效果良好。The kinematical equation for AGV was deduced. The fuzzy control method was put forward to control path following of AGV, and a fuzzy controller was designed by using MATLAB fuzzy logic control, which is adopted to vision guided AGV and can implement path following. Simulation results show that the proposed control method is valid for the control system of path following of AGV.

关 键 词：AGV 模糊控制 路径跟踪 仿真 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]