摘要
磁引导AGV(自动引导车)系统作为一种实用且相对稳定的引导系统被广泛应用于工业中。在应用中由于系统的建模误差,外界干扰及其他不确定因素,小车会出现偏离其规划路径的情况。为改进偏离误差,对AGV系统中路径导航模块进行了改进,建立了一个利用模糊控制器来实现在路径规划中进行路径校正的系统,并对系统进行了建模与仿真分析实现。由实验结果分析,系统能够较好地进行路径的校正与跟踪。
As a useful and robust method for guiding AGVs,magnetic guide method is widely used in industry. There are many deviations,which caused by modeling error,interferes and other uncertainties. Thus leading AGV deviated from there orbit. Fuzzy control algorithm is widely used in industrial systems. Aiming at improving this situation,a path correction system which using fuzzy controller to achieve better path orbit is designed. The simulation analysis was carried using MATLAB software,and the result indicates that the algorithm is effective.
出处
《杭州电子科技大学学报（自然科学版）》
2015年第1期58-62,共5页
Journal of Hangzhou Dianzi University：Natural Sciences
关键词
模糊控制
路径校正
自动引导车
磁引导
fuzzy control
path correction
automatic guided vehicles
magnetic guided
