摘要
控制律中参数的选取在很大程度上影响着自主移动小车的轨迹跟踪精度,但很少有人考虑参数的优化取值问题。首先,该文将轨迹跟踪控制变量转换至小车车轮上以确保控制能在实际系统中实现;然后,用遗传算法对控制律中的参数进行优化设计,并用MATLAB进行了仿真研究。仿真结果表明:控制参数的选取对自主移动小车的轨迹跟踪精度影响很大;相同的控制参数对在不同的自主移动小车初始位姿下的轨迹跟踪控制效果不同;通过优化控制参数以提高自主移动小车的轨迹跟踪精度是可行与有效的。
Tracking precision of automatic guided vehicle (AGV) is greatly influenced by the parameters in control law. To deal with this problem, control variables are switched to wheels at first to allow the control strategy being carried out in real control system, then, parameter optimization using Genetic Algorithm is carried out in this paper to reduce tracking errors. Three viewpoints can be drawn from simulation: 1. tracking control parameters have great influence on tracking precision; 2. the same parameters have different influence on tracking precision if original position of AGV is changed; 3.tracking precision can be greatly improved by optimizing control parameters.
出处
《计算机仿真》
CSCD
2006年第8期149-152,共4页
Computer Simulation
基金
上海市重点学科建设项目(沪教委科【2001】44号)
关键词
自主移动小车
轨迹跟踪
控制参数
优化
Automatic guided vehicle
Trajectory tracking
Control parameter
Optimization