基于模型预测的自动导引车区间轨迹跟踪控制

针对自动导引车(AGV)轨迹跟踪问题,在确定其可行驶区域的基础上,考虑自动导引车的大小和形状,本文设计了一种基于模型预测控制理论的轨迹跟踪控制方法.首先,将车辆运动学模型进行线性化处理,得到车辆动力学线性模型;其次,运用模型预测控制方法,利用预测路径与期望路径之间的误差,通过优化得到使性能指标最优的控制序列;最后,在MATLAB软件上对轨迹跟踪控制器进行仿真.实验结果表明,AGV可以稳定地跟踪参考轨迹,且距离偏差和角度偏差都在给定的可行范围内,证明了提出的基于模型预测控制的轨迹跟踪算法具有良好的跟踪性能.

Interval trajectory tracking of automatic guided vehicles via model predictive control method

This paper considers a trajectory tracking control method based on the model predictive control theory for the AGV with known regional boundary. Firstly, the vehicle kinematics model is linearized to obtain the vehicle dynamics linear model. Secondly, the model predictive control method is used, and the error between the predicted path and the expected path is utilized to obtain the control sequence that minimizes the performance index. Finally, the trajectory tracking controller is simulated on the Matlab software. The experimental results show that the AGV can track the reference trajectory stably, and the distance deviation and angular deviation are within the given feasible considered range.It is proved that the proposed trajectory tracking algorithm based on model predictive control has good tracking performance.