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| 基于视觉导航的AGV模糊-最优控制研究 | |
| 引用本文： | 陈无畏,李碧春,孙海涛,许张红,蒋浩丰.基于视觉导航的AGV模糊-最优控制研究[J].中国机械工程,2006,17(24):2546-2550. |
| 作者姓名： | 陈无畏 李碧春 孙海涛 许张红 蒋浩丰 |
| 作者单位： | 1. 合肥工业大学,合肥,230009 2. 安徽省公路运输管理局,合肥,230000 3. 南京交通职业技术学院,南京,211188 |
| 基金项目： | 安徽省自然科学基金;江苏省重点实验室基金 |
| 摘 要： | 介绍了基于视觉导航的路径识别算法，该算法能够较好地计算出自动引导车的相对位置，并通过相对位置信息，运用模糊一最优控制策略来实现自动引导车的路径跟踪控制。不同条件下所做的大量仿真计算均表明，基于视觉导航的模糊最优控制器工作稳定、切换平滑、跟踪控制误差小且有较好的抵抗外界噪声干扰能力。 |
| 关 键 词： | 自动引导车 视觉导航 路径跟踪 模糊-最优控制 |
| 文章编号： | 1004-132X（2006）24-2546-05 |
| 收稿时间： | 2005-05-14 |
| 修稿时间： | 2005-05-14 |
Study on Fuzzy-optimal Control of Vision Navigation for an AGV |
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| Chen Wuwei,Li Bichun,Sun Haitao,Xu Zhanghong,Jiang Haofeng.Study on Fuzzy-optimal Control of Vision Navigation for an AGV[J].China Mechanical Engineering,2006,17(24):2546-2550. | |
| Authors: | Chen Wuwei Li Bichun Sun Haitao Xu Zhanghong Jiang Haofeng |
| Affiliation: | 1. Hefei University of Technology, Hefei, 230009 2. Anhui Transport Administration Burear, Hefei, 230000 3. Nanjing Instiute of Traffic Profession, Nanjing, 211188 |
| Abstract: | This paper introduced a novel path recognition algorithm based on vision navigation.The position parameters of the automatic guide vehicle(AGV) can be obtained by using the algorithm.Thus,based on the position information of the AGV,a fuzzy-optimal control strategy was presented to carry out the path-tracking task.Under different conditions,the simulations show that the fuzzy-optimal controller,based on vision navigation,can satisfy the demands of real time path-tracking.And the results also show that the controller has the performance of stable work,smooth switch,small tracking error and good noise-proof feature. |
| Keywords: | AGV vision navigation path- tracking fuzzy- optimal control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |