共查询到19条相似文献,搜索用时 156 毫秒
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基于轨迹控制的AGV运动控制器设计研究 总被引:1,自引:0,他引:1
对基于计算机视觉的AGV路径跟踪技术进行了研究,提出了基于轨迹控制的AGV运动控制器设计新方法,重点解决AGV路径跟踪效果与高速运动稳定性问题。首先对AGV工作环境与计算机视觉的特点进行分析,设计了适合AGV路径跟踪的图像处理流程。然后在深入分析两轮差速驱动运动平台的基础上,提出了基于轨迹控制的AGV运动控制器设计新方法。该控制器以AGV相对路径所处的状态量为输入,输出AGV控制指令——两轮的速度差和运动时间,从而控制AGV按指定轨迹运动,实现轨迹控制即AGV路径跟踪的目标。试验结果表明,AGV路径跟踪技术对直线和弧线具有较好的跟踪效果且AGV运动平稳。 相似文献
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针对全方位移动AGV的路径跟踪控制,提出了一种融合多模糊控制器的路径跟踪模糊控制技术,通过对路径跟踪不同方法的研究和实验总结制定了一套用于模糊路径跟踪的控制规则,该控制规则对距离偏差、角度偏差以及它们的变化率的数据进行模糊化处理、推理和输出去模糊化的控制量,避免了大量精确处理偏差值带来的AGV系统调节不稳定的问题.通过仿真和实验结果表明,该控制技术可以使全方位移动AGV更稳定、快速地进行路径跟踪,提高了运行效率. 相似文献
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《机械设计与制造》2017,(12)
针对单磁导引轮式AGV转向过程中存在的横向滑移和磨损问题,以及路径跟踪过程中纠偏方向的左右不确定性,设计了一种能实现纯滚动转向从而减小轮胎磨损的行走装置,并在轮式AGV平台上搭建了前后双磁导引传感器系统。首先采用电动推杆实时改变横拉杆长度,使机器人运动结构符合艾克曼模型从而实现纯滚动运动,然后以双PID算法为导引,根据反馈的当前位置和角度偏差作为PID控制器的输入,前轮期望转角和车体期望速度作为输出,采用MATLAB进行不同路径跟踪仿真实验。仿真结果表明,AGV在弯道上能在2s内以1.5m/s的速度快速准确跟踪到预定路径,纠偏角度保持在(-10~+10)°,验证了双磁导引系统设计的合理性和路径跟踪算法设计的有效性。 相似文献
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为提高视觉导航AGV在运行过程中对路径标识符识别的可靠性和实时性,首先设计了实际应用中常见的几类标识符,然后针对这些标识符提出了一种基于形状特征的识别算法,最后通过实验验证了该算法的可行性,并对实验结果进行了分析,分析表明当标识符存在污损、旋转、比例缩放以及光照条件变化等情况时,该算法仍然能够获得快速高精度的识别效果。 相似文献
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蚁群算法所具备的合作搜索能力被广泛用于寻找单台AGV最短路径,却不适用解决现实情况中多台AGV同时使用的问题,为此提出了融合任务规则优先级的蚁群算法实现多AGV路径规划,用于解决现实问题中多台AGV同时使用而且存在多种碰撞冲突的情形。通过将AGV运行的路径环境进行建模等针对性措施,把蚁群算法引入到AGV路径规划的现实问题中,然后考虑多AGV路径规划可能存在的不同碰撞冲突类型,并考虑不同AGV拥有不同的任务优先级的现实情况,提出了避免AGV碰撞的策略,形成了基于融合任务规则优先级蚁群算法的多AGV路径规划算法。通过仿真实验结果,证实所提出的算法可以避免多台AGV之间的路径冲突,同时利用了蚁群算法寻求最优路径的能力,改进后的蚁群算法能够用于多AGV路径规划的实际场景中。 相似文献
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Tong-Jin Park Jung-Woo Ahn Chang-Soo Han 《Journal of Mechanical Science and Technology》2002,16(2):137-146
In this paper, a path generation algorithm that uses sensor scannings is described. A scanning algorithm for recognizing the ambient environment of the Automatic Guided Vehicle (AGV) that uses the information from the sensor platform is proposed. An algorithm for computing the real path and obstacle length is developed by using a scanning method that controls rotating of the sensors on the platform. The AGV can recognize the given path by adopting this algorithm. As the AGV with two-wheel drive constitute a nonholonomic system, a linearized kinematic model is applied to the AGV motor control, An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Based on experimental results, the proposed algorithm that uses scanning with a sensor platform employing only a small number of sensors and a low cost controller for the AGV is shown to be adequate for path generation. 相似文献
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Young Jin Lee Jin Ho Suh Jin Woo Lee Kwon Soon Lee 《Journal of Mechanical Science and Technology》2005,19(1):28-39
In this paper, we proposed an adaptive control method which is named CMIA (cell-mediated immune algorithm) controller with
PID scheme. It is based on specific immune response of the biological immune system which is the cell-mediated immune response.
It is also applied for the autonomous guided vehicle (AGV) system which is manufactured in this paper. The AGV is used for
the port automation to carry container without human and to overcome uncertainty and nonlinearity because of running in the
outdoor. To verify the performance of the proposed CMIA controller, some experiments for the AGV system are performed. Finally,
the experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed
control scheme. These results for the proposed method also show that it has better performance than other conventional controller
design methods. Key Words: Port Automation, Autonomous Guided Vehicle (AGV), Adaptive Control, Cell-Mediated Immune Algorithm
(CMIA) Controller, Vision Sensor, Neural Network Identifier (NNI) 相似文献
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Mehdi Yahyaei J. E. Jam R. Hosnavi 《The International Journal of Advanced Manufacturing Technology》2010,47(5-8):795-807
Material handling in manufacturing systems is becoming easier as the automated machine technology is improved. Nowadays, most of the research aims at increasing the flexibility and improving the performance of the automatic guided vehicle (AGV). In this paper, designed and made AGV in the Industrial Control Laboratory in Royce Lab at the University of Manchester Institute of Science and Technology will be presented. For controlling the navigation of the AGV, a newly developed controller integrated fuzzy logic with programmable logic controller will be used. By using integrated fuzzy logic controller with programmable logic controller (IFLPLC), the flexibility of AGV will be increased and we achieved great advantages, which can be used in future. Since this AGV uses programmable logic controller and fuzzy logic controllers together, then it will be useful for factories which implement flexible manufacturing system (FMS). Online maintenance and sending the commands to other machines from AGV and so on are the advantages that can be used in FMS. The aim of this paper is to propose the practical example of IFLPLC. The designed AGV is able to reach the target. Further researches are required for collision avoidance and selecting the best way in FMS 相似文献
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为探索压电主动机敏结构测控单元微型化及高速处理技术,设计开发了一种以ARM和DSP为核心的双核嵌入式控制器;阐述了系统构成与核心部件、系统软硬件设计思路、功能指标和开发过程;通过构建模型结构和试验平台,结合自适应滤波前馈振动控制算法,进行了压电机敏柔性结构振动主动控制试验。试验结果验证了所设计嵌入式控制器的可行性和有效性,并在压电机敏结构测控系统微型化方面获得有益结果。 相似文献
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针对柔性作业车间调度问题,考虑自动导引车(AGV)在车间制造过程中只参与装卸和搬运工作,提出一种实现AGV路径规划与柔性作业车间调度集成优化的融合调度模型。采用基于工序排序与机器选择两个子问题的二维向量编码方案,并在解码过程中提出基于最先服务原则的AGV安排策略。对鲸鱼优化算法进行离散化改进,针对性地设计了多种种群初始化策略,引入遗传算法的交叉、变异操作以提升鲸鱼优化算法的全局搜索能力,并嵌入局部搜索算法以达到全局搜索和局部搜索的平衡,构建了一种混合遗传鲸鱼优化算法(HGWOA)来求解该融合调度模型。通过经典测试算例验证了算法性能,并使用正交试验优化了算法参数。研究结果表明,HGWOA算法用于求解柔性作业车间AGV融合调度问题可以获得较好的效果。 相似文献
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针对重载棉桶搬运专用复合机器人纠偏控制过程存在的问题,对复合机器人本体机构、纠偏控制系统组成、纠偏控制关键电子检测元件、PID控制算法进行了阐述,对棉桶搬运专用AGV的电子纠偏原理、电子纠偏PLC实现方法、纠偏控制模型进行了研究,探讨了采用PID算法理论实现自导引车实时纠偏的控制方法;建立了AGV运动纠偏数学模型,运用Matlab软件进行仿真,获得PID纠偏算法响应曲线规律;设计了现场实际测试原理与方法,并进行实验样机的现场实地运行与测试,获得AGV运行实际轨迹与磁条中心线轨迹的偏差数据。研究结果表明:PID纠偏算法能够稳定快速地校正AGV的轨迹偏差,纠偏过程无超调、无振荡,纠偏精度≦±10 mm,达到国标设计规范要求,复合机器人整体运行平稳可靠。 相似文献