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基于wMPS和模糊控制的AGV路径规划控制

Path Planning Control of Automated Guided Vehicle Based on Workshop Measurement Positioning System and Fuzzy Control

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摘要

针对大空间自动导引车(AGV)的高精度路径规划控制应用,提出一种基于工作空间测量定位系统(wMPS)和模糊控制算法相结合的应用模式。事先规划好AGV路径,采用wMPS对AGV实时位姿进行精确测量,通过模糊控制算法输出实时调整AGV的前进速度和旋转角速度。算法仿真与实验结果表明,AGV的定位精度优于2.5 mm,能够保证AGV的动态导航和定位精度。

Abstract

An application mode for high-precision path planning control application of automated guided vehicle (AGV) with a large space is proposed based on the combining of the workshop measurement positioning system (wMPS) and the fuzzy control algorithm. AGV path is planned in advance, and the real-time position and pose of AGV is accurately measured by wMPS, and the real-time forward and rotational speed parameters of AGV are output by the fuzzy control algorithm. Simulation and experimental results show that the positioning accuracy of AGV is better than 2.5 mm, which can ensure dynamic navigation and positioning accuracy of AGV.

Newport宣传-MKS新实验室计划
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中图分类号:V249.3

DOI:10.3788/aos201939.0312003

所属栏目:仪器,测量与计量

基金项目:国家自然科学基金(51475329)、国家重点研发计划(2017YFF0204802)、国家自然科学基金创新研究群体项目(51721003)

收稿日期:2018-07-16

修改稿日期:2018-09-16

网络出版日期:2018-10-25

作者单位    点击查看

任永杰:天津大学精密测试技术及仪器国家重点实验室,天津 300072
赵显:天津大学精密测试技术及仪器国家重点实验室,天津 300072
郭思阳:天津大学精密测试技术及仪器国家重点实验室,天津 300072
王金旺:天津大学精密测试技术及仪器国家重点实验室,天津 300072
邓俊:天津大学精密测试技术及仪器国家重点实验室,天津 300072

联系人作者:赵显(zhaoxian147@tju.edu.cn); 任永杰(ryj_tj@126.com);

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引用该论文

Ren Yongjie,Zhao Xian,Guo Siyang,Wang Jinwang,Deng Jun. Path Planning Control of Automated Guided Vehicle Based on Workshop Measurement Positioning System and Fuzzy Control[J]. Acta Optica Sinica, 2019, 39(3): 0312003

任永杰,赵显,郭思阳,王金旺,邓俊. 基于wMPS和模糊控制的AGV路径规划控制[J]. 光学学报, 2019, 39(3): 0312003

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