摘要
针对自动导引车辆AGV沿着既定路线行走时,由于外界不确定因素的影响而偏离既定路线的问题,提出了基于视觉CCD引导方式对AGV的行驶路径进行数据采集,以位置偏差和方向偏差作为纠偏控制系统的输入,同时基于模糊推理和PID控制策略对AGV行走进行纠偏。利用该控制策略,提高控制系统的鲁棒性、智能性、快速性、准确性。在Simulink仿真环境中进行了动态仿真,与常规的PID控制器相比,该控制系统能够更精确地对AGV的行驶过程进行实时纠偏。
In order to solve the uncertain problems of driving condition when moving along a specific route,the data acquisition for the route of automatic guided vehicle (AGV) based on CCD vision-guiding is proposed.The inputs of deviation-correcting system are position deviation and orientation deviation.At the same time,control strategy based on fuzzy-PID is used to raise the robustness,intelligent behavior,response speed and accuracy of the control system.The dynamic simulation carried out with Simulink shous that the fuzzy-PID control system could make the AGV achieve better performance than traditional PID controller.
出处
《控制工程》
CSCD
2006年第S2期54-57,共4页
Control Engineering of China
关键词
模糊控制
PID算法
AGV
纠偏
视觉引导
fuzzy control
PID algorithm
AGV
deviation-correcting
vision-guiding
