基于视觉导航仓储AGV的模糊PID控制  

Study on fuzzy PID control of visual navigation for a storage AGV

作　　者：周阔海 黄民[1] 高宏[1] 郎需强 ZHOU Kuohai;HUANG Min;GAO Hong;LANG Xuqiang(Mechanical Electrical Engineering School,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2020年第4期69-74,共6页Journal of Beijing Information Science and Technology University

基　　金：北京市科技计划项目(Z171100000817006,Z191100001419009)。

摘　　要：研究了仓储自动导引运输车(automatic guided vehicle,AGV)运动过程中由于随机非线性误差引起的AGV行走左右位置偏差问题。以建立AGV底盘相对应的运动学模型为基础,在仓储AGV运动控制中采用了模糊PID方法,依靠视觉传感器反馈的偏移误差和偏移误差变化率,通过仓储AGV的合成速度进行运动调节。通过仿真实验发现在AGV运动控制中应用模糊PID控制方法较传统PID控制方法的结果曲线误差小。经测试,在视觉导航仓储AGV中运用模糊PID控制方法较传统PID控制方法的工作效率提高了5%。The left and right position deviation of the storage AGV caused by random nonlinear errors during the movement of the storage AGV is studied in this paper.Based on the establishment of the corresponding kinematics model of AGV chassis,the fuzzy PID method is adopted in the motion control of the storage AGV.Based on the deviation error and deviation error rate feedback from the visual sensor,this method adjusts the motion through the synthesis speed of the storage AGV.Through the simulation experiment,it is found that the curve error of the fuzzy PID control method is smaller than that of the traditional PID control method in the AGV motion.After testing,it is shown that the working efficiency of fuzzy PID control method of visual navigation for a storage AGV is 5%higher than that of the traditional PID control method.

关 键 词：视觉导航 AGV(automatic guided vehicle) 模糊控制 PID 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]