六轮AGV小车路线偏差控制方法仿真  

Simulation of Route Deviation Control of Six-Wheel AGV Car

作　　者：冯少源 周章金[1] 马璿 FENG Shao-yuan;ZHOU Zhang-jin;MA Xuan(College of Information Engineering,Xizang Minzu University,Xianyang Shaanxi 712000,China)

机构地区：[1]西藏民族大学信息工程学院,陕西咸阳712000

出　　处：《计算机仿真》2023年第4期417-421,共5页Computer Simulation

基　　金：陕西省教育厅科学研究计划项目(21JK0949)。

摘　　要：针对无人自动导向运输车(Automated Guided Vehicle, AGV)在搬运质量较大货物时,驱动轮容易出现打滑或摆动问题,导致其路线难以按照原定路线行驶,提出一种基于磁导航的六轮AGV小车路线偏差控制方法。通过示教方法记录并测量磁钉的位置,基于此,采用迭代学习方法在AGV小车重复运动过程中更新局部路段的目标值,实现磁钉的标定。计算运行过程中六轮AGV小车产生的角度偏差和位置偏差,将其作为输入值,设计模糊控制器,控制小车的路线偏差,在此基础上采用粒子群优化算法优化模糊控制器,提高六轮AGV小车路线偏差的控制精度。仿真结果表明,研究方法控制下六轮AGV小车路线与实际原定路线具有较高拟合度,总耗时在10s内,验证了所提方法的导航精度高、角度偏差小且控制效率较高。When transporting heavy goods,the driving wheel of AGV(Automated Guided Vehicle)is prone to slip or swing,so it is difficult to follow the original route.Therefore,a method of controlling route deviation of sixwheel AGV was proposed based on magnetic navigation.Firstly,the position of the magnetic nail was recorded and measured by the teaching method.On this basis,the iterative learning method was used to update the target value of local sections during the repeated movement of AGV,thus achieving the calibration of the magnetic nail.Secondly,the angle deviation and position deviation caused by the small difference of six-wheel AGV were calculated as input values.Thirdly,a fuzzy controller was designed to control the route deviation.Moreover,the particle swarm optimization algorithm was adopted to optimize the fuzzy controller and thus improve the control accuracy for route deviation.Simulation results show that the route of the six-wheel AGV controlled by the proposed method has a high degree of fit with the original route,and the total time is less than 1Os.It is verified that the proposed method has high navigation accuracy,small angle deviation and high control efficiency.

关 键 词：磁导航 磁钉标定 模糊控制器 粒子群优化算法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]