基金项目:陕西省教育厅科学研究计划项目(21JK0949)收稿日期:2022-04-18第40卷第4期计算机仿真2023年4月文章编号:1006-9348(2023)04-0417-05六轮AGV小车路线偏差控制方法仿真冯少源,周章金,马璿(西藏民族大学信息工程学院,陕西咸阳712000)摘要:针对无人自动导向运输车(AutomatedGuidedVehicle,AGV)在搬运质量较大货物时,驱动轮容易出现打滑或摆动问题,导致其路线难以按照原定路线行驶,提出一种基于磁导航的六轮AGV小车路线偏差控制方法。通过示教方法记录并测量磁钉的位置,基于此,采用迭代学习方法在AGV小车重复运动过程中更新局部路段的目标值,实现磁钉的标定。计算运行过程中六轮AGV小车产生的角度偏差和位置偏差,将其作为输入值,设计模糊控制器,控制小车的路线偏差,在此基础上采用粒子群优化算法优化模糊控制器,提高六轮AGV小车路线偏差的控制精度。仿真结果表明,研究方法控制下六轮AGV小车路线与实际原定路线具有较高拟合度,总耗时在10s内,验证了所提方法的导航精度高、角度偏差小且控制效率较高。关键词:磁导航;磁钉标定;模糊控制器;粒子群优化算法中图分类号:TP242.2文献标识码:BSimulationofRouteDeviationControlofSix-WheelAGVCarFENGShao-yuan,ZHOUZhang-jin,MAXuan(CollegeofInformationEngineering,XizangMinzuUniversity,XianyangShaanxi712000,China)ABSTRACT:Whentransportingheavygoods,thedrivingwheelofAGV(AutomatedGuidedVehicle)ispronetosliporswing,soitisdifficulttofollowtheoriginalroute.Therefore,amethodofcontrollingroutedeviationofsix-wheelAGVwasproposedbasedonmagneticnavigation.Firstly,thepositionofthemagneticnailwasrecordedandmeasuredbytheteachingmethod.Onthisbasis,theiterativelearningmethodwasusedtoupdatethetargetvalueoflocalsectionsduringtherepeatedmovementofAGV,thusachievingthecalibrationofthemagneticnail.Secondly,theangledeviationandpositiondeviationcausedbythesmalldifferenceofsix-wheelAGVwerecalculatedasinputvalues.Thirdly,afuzzycontrollerwasdesignedtocontroltheroutedeviation.Moreover,theparticleswarmoptimiza-tionalgorithmwasadoptedtooptimizethefuzzycontrollerandthusimprovethecontrolaccuracyforroutedeviation.Simulationresultsshowthattherouteofthesix-wheelAGVcontrolledbytheproposedmethodhasahighdegreeoffitwiththeoriginalroute,andthetotalti...
