非完整约束AGV运动控制系统设计及软件实现

Design of AGV Motion Control Platform with Nonholonomic Constraints Based on LabVIEW

在建立非完整约束AGV数学模型的基础上,该文设计了基于模型约束的随机扩展生成树(RRT)路径规划算法及其LabVIEW软件,保证了规划路径的可达性与平滑程度。针对非完整约束AGV的驱动及执行机构,进行了运动控制平台的控制系统设计,并在LabVIEW环境下完成了路径跟踪控制程序的设计与实现。通过试验证明了所设计非完整约束AGV运动控制平台的合理性及实用性。

On the basis of establishing the mathematical model of nonholonomic constraint AGV,a random extended spanning tree(RRT) path planning algorithm based on model constraints and its LabVIEW software are designed to ensure the accessibility and smoothness of the planning path. The control system of the motion control platform is designed for the driving and executing mechanism of the nonholonomic constraint AGV,and the design and implementation of the path tracking control program are completed under the LabVIEW environment. The experiment proves the rationality and practicability of the AGV motion control platform designed.