摘要
针对AGV轨迹跟踪问题,采用模糊控制原理,设计了一种模糊控制器。通过对AGV运动学模型的分析,得到了控制AGV在绝对坐标系中位姿变化的2个变量,并将这2个变量作为模糊控制器的输出变量,实现对AGV的轨迹控制。利用Matlab进行仿真,仿真结果较理想。
On account of the AGV trajectory tracking,the paper designs a fuzzy controller with the fuzzy control theory,obtains 2 variables which control the position changes of the AGV in the absolute coordinate system through the analysis of the AGV kinematics model,and realizes the controlling of AGV trajectory by taking the 2 variables as the output variables of the fuzzy controller.Moreover,a better simulation result is yielded since Matlab is employed in simulation.
出处
《起重运输机械》
2011年第2期16-18,共3页
Hoisting and Conveying Machinery
关键词
AGV
模糊控制
轨迹跟踪
仿真
AGV
fuzzy control
trajectory tracking
simulation
