摘要
提出一种跟踪精度高、计算量小、易于实现的自动引导车跟踪控制方法 .这一方法将要跟踪的轨迹划分成若干段 ,然后进行分段跟踪 .采用此法 ,可以避免使用路径曲线段进行跟踪时曲率的计算以及计算量大和计算复杂等问题 ,使得自动引导车跟踪的实时性 ,精确度得到提高 .通过多种路径跟踪的仿真实验 。
It is presented that a novel method of tracking con tr ol for an AGV (automatic guided vehicle) has good performance of real-time, rob ustness and adapting to complicated paths. This method divides a desired traject ory into many pieces and follows the pieces one by one. With the method, the cal culation of curvature of tracking trajectory and complex calculating process can be avoided, and the performance of real-time and precision can be improved. Ma ny simulation experiment results demonstrate the effectiveness and correctness o f the method.
基金
安徽省自然科学基金资助项目 (No .0 0 0 43 2 3 8)
关键词
自动引导车
跟踪
控制
AGV(automatic guided vehicle)
tracking
control
