摘要
自动导引车(AGV)作为一种现代化物流设备,在许多领域得到了越来越广泛的应用。AGV在行进过程中的主要任务是避障及路径规划。针对AGV的避障路径规划问题,定义了AGV的行驶环境,提出了AGV避障路径规划的模糊神经网络控制方法,设计了模糊神经网络控制器,并用Matlab进行了仿真。仿真结果表明该模糊神经网络控制器满足控制要求,该研究为进一步精确控制AGV奠定了基础。
Automatic guided vehicles（AGV） as a modern logistics equipment,has been used more and more widely in many areas.In the process of AGV moving,the main task are obstacle avoidance and path planning.Aiming at AGV obstacle avoidance path planning,the environment of the AGV＇s traveling was defined,the AGV obstacle avoidance path planning method of fuzzy neural network control was proposed,the fuzzy neural network controller was designed,and the simulation analysis with Matlab was carried,the simulation result indicates that this fuzzy neural network controller satisfies the control request.The research lays the foundation for the further precise control of AGV.
出处
《机电工程》
CAS
2010年第9期27-31,共5页
Journal of Mechanical & Electrical Engineering
关键词
自动导引车
行驶环境
避障路径规划
模糊神经网络
automatic guided vehicles（AGV）
environment of traveling
obstacle avoidance path planning
fuzzy neural network
