基于模糊预测迭代算法的AGV导航研究

Research on AGV Navigation Based on Fuzzy Prediction Iterative Algorithms

为了提高移动机器人移动精度和动作效率,提出了一种模糊迭代算法,并进行了仿真。首先对AGV小车的工作原理进行分析,在分析迭代控制的基础上对AGV小车路径纠偏进行研究,并设计了模糊预测迭代算法的控制器。为了验证方案的可行性,进行了仿真调试,结果表明:采用模糊预测迭代算法的PI控制器比传统的PI控制器具有小的超调,高鲁棒性,误差小,更接近于期望的方波信号。该控制系统具有较高的控制精度,将该控制器引入到移动AGV控制系统中是可行的。

In order to improve the accuracy and efficiency of mobile robots, a fuzzy iteration algorithm is proposed and simulated. Firstly, the working principle of AGV car is analyzed. Based on the analysis of iteration control, the path correction of AGV car is studied, and the controller of fuzzy predictive iteration algorithm is designed. In order to verify the feasibility of the scheme, simulation debugging is carried out. The simulation results show that the PI controller using the fuzzy predictive iteration algorithm has smaller overshoot, higher robustness, smaller error and closer to the expected square wave signal than the traditional PI controller. The control system has high control precision, and it is feasible to introduce the controller into the mobile AGV control system.