基于视觉AGV两轮差速转向最优控制研究.pdf

:TP391 :A : 1009- 2552(2009) 07- 0001- 05 AGV 王晓亮, 詹跃东, 艾 青, 经 坤 ( , 650051) : 简要地介绍了基于机器视觉导向的AGV 两轮差速转向的原理和组成, 并对计算机控制 统设计, 图像信息识别等AGV 控制问题进行了阐述提出了一种采用最优控制方法对两轮差 速转向进行控制仿真和实验结果表明, 采用最优控制方法对两轮差速转向进行控制, 样车运 行过程稳定, 路径跟踪可靠, 控制性能良好 : VAGV; ; ; Optimal control of a twowheel difference speed steering AGV based on machine vision WANG Xiaoliang, ZHAN Y edong, AI Qing, JING K n ( Faculty of Information Engineering and Automation, Kunming University of Science and echnology, Kunming650051, China) Abstract: This paper introd ces simply the principle and composition of a twowheel difference speed steering AGV based on machine vision g iding, and states generally problems abo t the comp ter control system design, image information recognizing etc. The optim m controller design is p t forward to control the twowheel difference speed steering AGV. The sim lation and experimental res lts show that the twowheel difference speed steering AGV controlled by the optim m controller co ld move steadily, follow path reliably and get the control performances well. Key words: VAGV; difference speed steering; optimal control; linear q adratic reg lator ( LQR) 0 引言 , [ 1] AGV , (A tomated G ided Vehicle,AGV) , , , , , , , AGV AGV , , ,AGV , ( VisionBased A tomatic G ided AGV