基于遗传算法优化PID控制器的AGV运动控制研究

Research on AGV Motion Control Based on Genetic Algorithm Optimized Pid Controller

自动导引小车(Automated Guided Vehicle,AGV)机器人进行运动控制时存在路径偏差,因此设计一种基于遗传算法优化比例-积分-微分(Proportion-Integral-Differential,PID)控制器的路径纠偏跟踪导航。首先,建立AGV逆运动学模型;其次,将期望位置和期望方向与实际位置和实际方向的偏差作为输入,将得到的PID参数作为输出,用于补偿AGV机器人的速度进行路径纠偏;最后,在样机上进行实验。实验结果表明:该控制器能够快速准确地按照理论轨迹运动,验证了该方法的有效性。

Path deviation exists in the motion control of Automated Guided Vehicle(AGV)robot.To solve this problem,a genetic algorithm named Proportion-Integral-Differential(PID)is designed.PID controller for path correction tracking and navigation.Firstly,the inverse kinematics model of AGV is established.Secondly,the deviation between the expected position and the expected direction and the actual position and direction is taken as the input,and the PID parameter obtained is taken as the output to compensate the speed of the AGV robot for path deviation correction.Finally,the experiment is carried out on the prototype.Experimental results show that the controller can move quickly and accurately according to the theoretical trajectory,which verifies the effectiveness of the proposed method.