视觉导引AGV分段预测控制模型设计
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摘要
针对视觉导引自动导引车的路径跟踪问题,提出了一种采用预测控制理论的分段控制模型.利用不等式约束对控制问题进行分段,提出以转弯半径为约束条件,解决了优化过程目标函数权重选择困难的问题.在每个控制阶段,采用单步预测方法找到最优的目标点,在输入约束和状态约束下用解析方法直接解出最优控制量,提高了解最优问题的速度.整个控制模型及方法目标明确,计算快速且计算量小,完全可以满足实时控制的需要,仿真结果证明了预测模型的有效性.
A model of sectionalize control based on predictive control was presented for problems of vision-guided automated guided vehicle( AGV) path tracking. Control problems with inequality constraints were sectioned. The turning radius as constraint conditions was made,so that,the problem of the selection of objective function weights during the optimization process is solved. In each control period,a single-step prediction method was used to find the optimal target point,and obtain the optimal control variables directly by analytical methods under the input constraints and state constraints. The speed of the optimization problem is improved. This method fully meets the need of real-time controls,and it is used to calculate and small amount of computation. The validity of the model predictive is proved by the simulation results.
A model of sectionalize control based on predictive control was presented for problems of vision-guided automated guided vehicle( AGV) path tracking. Control problems with inequality constraints were sectioned. The turning radius as constraint conditions was made,so that,the problem of the selection of objective function weights during the optimization process is solved. In each control period,a single-step prediction method was used to find the optimal target point,and obtain the optimal control variables directly by analytical methods under the input constraints and state constraints. The speed of the optimization problem is improved. This method fully meets the need of real-time controls,and it is used to calculate and small amount of computation. The validity of the model predictive is proved by the simulation results.
引文
[1]艾青,詹跃东,王晓亮,等.视觉AGV差速转向控制方法研究[J].昆明理工大学学报:理工版,2009,34(2):25-29.Ai Qing,Zhan Yuedong,Wang Xiaoliang,et al.Control methods for AGV difference speed steering based on vision[J].Journal of Kunming University of Science and Technology:Science and Technology,2009,34(2):25-29.
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[3]王荣本,储江伟,冯炎,等.一种视觉导航的实用型AGV设计[J].机械工程学报,2002,38(11):135-138.Wang Rongben,Chu Jiangwei,Feng Yan,et al.Design for a new type of AGV based on machine vision[J].Journal of Mechanical Engineering,2002,38(11):135-138.
[4]张立明,王振宇,王翊,等.基于视觉的AGV两轮差速转向模糊控制[J].昆明理工大学学报:理工版,2007,32(4):28-32.Zhang Liming,Wang Zhenyu,Wang Yi,et al.Fuzzy control of a two-wheel difference speed steering AGV based on vision[J].Journal of Kunming University of Science and Technology:Science and Technology,2007,32(4):28-32.
[5]赵韩,尹晓红,吴焱明.非完整约束AGV轨迹跟踪的非线性预测控制[J].中国机械工程,2011,6:681-686.Zhao Han,Yin Xiaohong,Wu Yanming.A nonlinear,model predictive control of trajectory tracking for nonholonomic AGV[J].China Mechanical Engineering,2011,6:681-686.
[6]武星,楼佩煌,杨雷.基于视野状态分析的机器人路径跟踪智能预测控制[J].机器人,2009,4:357-364.Wu Xing,Lou Peihuang,Yang Lei.Intelligent predictive control based on state analysis of visual field for robot path tracking[J].Robot,2009,4:357-364.
[2]李进,陈无畏,李碧春,等.自动导引车视觉导航的路径识别和跟踪控制[J].农业机械学报,2008,39(2):20-24.Li Jin,Chen Wuwei,Li Bichun,et al.Road recognition and tracking control of an vision guided AGV[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(2):20-24.
[3]王荣本,储江伟,冯炎,等.一种视觉导航的实用型AGV设计[J].机械工程学报,2002,38(11):135-138.Wang Rongben,Chu Jiangwei,Feng Yan,et al.Design for a new type of AGV based on machine vision[J].Journal of Mechanical Engineering,2002,38(11):135-138.
[4]张立明,王振宇,王翊,等.基于视觉的AGV两轮差速转向模糊控制[J].昆明理工大学学报:理工版,2007,32(4):28-32.Zhang Liming,Wang Zhenyu,Wang Yi,et al.Fuzzy control of a two-wheel difference speed steering AGV based on vision[J].Journal of Kunming University of Science and Technology:Science and Technology,2007,32(4):28-32.
[5]赵韩,尹晓红,吴焱明.非完整约束AGV轨迹跟踪的非线性预测控制[J].中国机械工程,2011,6:681-686.Zhao Han,Yin Xiaohong,Wu Yanming.A nonlinear,model predictive control of trajectory tracking for nonholonomic AGV[J].China Mechanical Engineering,2011,6:681-686.
[6]武星,楼佩煌,杨雷.基于视野状态分析的机器人路径跟踪智能预测控制[J].机器人,2009,4:357-364.Wu Xing,Lou Peihuang,Yang Lei.Intelligent predictive control based on state analysis of visual field for robot path tracking[J].Robot,2009,4:357-364.