| 自动引导车跟踪控制的仿真研究 |
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| 引用本文： | 陈无畏,施文武,王启瑞,蒋浩丰.自动引导车跟踪控制的仿真研究[J].中国科学技术大学学报,2003,33(1):60-66. |
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| 作者姓名： | 陈无畏 施文武 王启瑞 蒋浩丰 |
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| 作者单位： | 1. 合肥工业大学机械与汽车学院,安徽,合肥,230009
2. 东南大学自动化系,江苏,南京,210096 |
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| 基金项目： | 安徽省自然科学基金资助项目 (No .0 0 0 43 2 3 8) |
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| 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，结果表明提出的方法是正确和有效的。
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| 关 键 词： | 自动引导车 跟踪 控制 |
| 文章编号： | 0253-2778(2003)01-0060-07 |
Simulations of Tracking Control for an Automatic Guided Vehicle |
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| CHEN Wu-wei ,SHI Wen-wu ,WANG Qi-rui ,JIANG Hao -feng.Simulations of Tracking Control for an Automatic Guided Vehicle[J].Journal of University of Science and Technology of China,2003,33(1):60-66. |
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| Authors: | CHEN Wu-wei SHI Wen-wu WANG Qi-rui JIANG Hao -feng |
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| Affiliation: | CHEN Wu-wei 1,SHI Wen-wu 2,WANG Qi-rui 1,JIANG Hao -feng 1 |
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| Abstract: | 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. |
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| Keywords: | AGV(automatic guided vehicle) tracking control |
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