| 轮式移动机器人轨迹跟踪的预测控制 |
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| 引用本文： | 史恩秀,黄玉美,史文浩.轮式移动机器人轨迹跟踪的预测控制[J].机械科学与技术(西安),2004,23(10):1234-1237,1241. |
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| 作者姓名： | 史恩秀 黄玉美 史文浩 |
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| 作者单位： | 西安理工大学机械自动化研究所 西安710048
(史恩秀，黄玉美)，西安理工大学机械自动化研究所 西安710048(史文浩) |
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| 摘 要： | 自动导航小车 (AGV)是一种移载用轮式移动机器人 (WMR) ,主要用于现代化的无人生产车间中实现物料的搬运。为完成搬运任务 ,其控制系统必须具备定位、路径规划和导航等功能。考虑到其工作任务的特殊性 ,作者设计了一种运动控制系统———组合导航预测控制系统。理论分析和仿真结果均表明 ,该控制系统是有效可靠的。
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| 关 键 词： | 轮式移动机器人(WMR) AGV 组合导航 预测控制 |
| 文章编号： | 1003-8728(2004)10-1234-04 |
Predictive Controlling of Wheeled Mobile Robot Tracking |
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| SHI En-xiu,HUANG Yu-mei,SHI Wen-hao.Predictive Controlling of Wheeled Mobile Robot Tracking[J].Mechanical Science and Technology,2004,23(10):1234-1237,1241. |
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| Authors: | SHI En-xiu HUANG Yu-mei SHI Wen-hao |
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| Abstract: | Automatic guided vehicle (AGV) is a kind of a wh ee led mobile robot (WMR), which is used to convey the material in modernizing self -service factory. In order to carry out the task, the functions such as path pl anning, navigation and localization must be realized by its controlling system. While considering the particularity of its task, a new motion controlling system ——composite navigation and predictive controlling system was proposed in this paper. It is proved by theoretic analysis and simulation that the controlling sy stem is viable and effective. |
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| Keywords: | Wheeled mobile robot (WMR) AGV Composite naviga tion Predictive control |
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