基于超声波传感器的AGV模糊避障设计  

Fuzzy Obstacle Avoidance Design of AGV Based on Ultrasonic Sensor

作　　者：白自强 邢希达 李敏 商宝富 周晓迪 王兴宾 BAI Ziqiang;XING Xida;LI Min;SHANG Baofu;ZHOU Xiaodi;WANG Xingbin(Shandong North Optical Electronics Co.,Ltd.,Tai'an,Shandong 271000,China)

机构地区：[1]山东北方光学电子有限公司,山东泰安271000

出　　处：《自动化应用》2024年第15期24-27,共4页Automation Application

摘　　要：根据工业现场实际生产状况,设计了一款用于避障的AGV小车。四传感器融合的模糊控制系统用于AGV避障,通过远程API控制AGV在CoppeliaSim中进行避障仿真,实现了MATLAB(客户端)和CoppeliaSim(服务器)跨越两平台联合实时仿真,论证了该四传感器融合模糊控制可用于行进过程中躲避障碍物,为后期的控制系统优化提供了一定依据。According to the actual production conditions at the industrial site,an AGV car for obstacle avoidance is designed.The four sensor fusion fuzzy control system is used for AGV obstacle avoidance.Through remote API control,AGV obstacle avoidance simulation is carried out in CoppeliaSim,achieving real-time simulation of MATLAB(client)and CoppeliaSim(server)across two platforms.It is demonstrated that the four sensor fusion fuzzy control can be used for obstacle avoidance during travel,providing a certain basis for later control system optimization.

关 键 词：四传感器融合 模糊逻辑控制器 远程 API 避障 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]