基于麦克纳姆轮的全向AGV移动平台控制方法研究  

Research on Control Method of Omni-directional AGV Mobile Platform Based on Mecanum Wheel

作　　者：房殿军[1] 卢彦廷 申加宁 Fang Dianjun;Lu Yanting;Shen Jianing(Chinesisch-Deutsches Hochschulkolleg, Tongji University, Shanghai 201804;Sino-German Institute of Intelligent Technologies,Qingdao 266500, China)

机构地区：[1]同济大学中德学院,上海201804 [2]中德智能技术博士研究院,山东青岛266500

出　　处：《物流技术》2019年第5期62-65,116,共5页Logistics Technology

摘　　要：针对麦克纳姆轮全向移动平台运动学控制问题,建立了四轮麦克纳姆轮全向AGV移动平台模型,引入遗传算法(Genetic Algorithm,GA)和Vague集相似度量理论,基于ITAE时间乘误差绝对值积分性能指标,引入遗传算法寻找最优模糊控制规则,利用Vague集相似度量推理计算最佳匹配度,进而在线动态调整PID参数,并运用于基于麦克纳姆轮的全向AGV移动平台运动学控制。仿真结果表明,与传统PID控制相比,结合遗传算法与Vague集理论的PID控制方法能有效降低系统超调量,缩短系统调整时间,使得全向AGV运动更加稳定灵活。Targeting at the kinematic control of the omni- directional mobile platform based on the Mecanum Wheel, this paper established the corresponding omni-directional AGV mobile platform model. Then it introduced the genetic algorithm (GA) and the Vague set similarity measure theory, based on the ITAE (Integral Time Absolute Error) performance index, found the optimal fuzzy control rules, inferred and calculated the best matching degree using the Vague set theory, by which to adjust the PID parameters online and dynamically, which is then used to control the kinematics of the omni- directional AGV mobile platform based on the Mecanum Wheel. At the end, a simulation showed that compared to the traditional PID control, the method that combines GA and Vague set theory could more effectively reduce the overshoot of the platform and shorten its adjustment time, giving the AGV more stable and flexible movement.

关 键 词：麦克纳姆轮 全向移动平台 运动学控制 遗传算法 VAGUE集相似度量 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]