| 基于动力学模型的自动引导车智能导航控制研究 |
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| 引用本文： | 陈无畏,施文武,王启瑞,何世娣. 基于动力学模型的自动引导车智能导航控制研究[J]. 农业机械学报, 2003, 34(4): 90-93 |
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| 作者姓名： | 陈无畏 施文武 王启瑞 何世娣 |
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| 作者单位： | 合肥工业大学机械与汽车学院,教授,博士生导师,230009,合肥市;东南大学自动控制系,博士生,210096,南京市;合肥工业大学机械与汽车学院,副教授;合肥工业大学研究生部,工程师 |
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| 基金项目： | 安徽省自然科学基金资助项目 (项目编号 :0 0 0 43 2 3 8) |
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| 摘 要： | 提出了一种基于动力学模型的智能控制方法,将导航系统得到的信息输入智能控制器,由它输出自动引导车动力学模型所需要的控制量。因为该控制器记忆了自动引导车的动力学特性,所以使用此智能控制器的自动引导车能够较平稳地避开动态和静态障碍物。仿真实验结果表明,装有此系统的自动引导车能有效避开动态和静态障碍物,安全、可靠、平稳地驶向指定的目标,从而验证了本文提出的方法是正确和有效的。
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| 关 键 词： | 自动控制技术 自动引导车 动力学 导航 控制 |
| 修稿时间： | 2002-04-01 |
Intelligent Navigation and Control Method Based on Dynamic Model of an Automatic Guided Vehicle |
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| Chen Wuwei Wang Qirui He Shidi. Intelligent Navigation and Control Method Based on Dynamic Model of an Automatic Guided Vehicle[J]. Transactions of the Chinese Society for Agricultural Machinery, 2003, 34(4): 90-93 |
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| Authors: | Chen Wuwei Wang Qirui He Shidi |
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| Affiliation: | Chen Wuwei Wang Qirui He Shidi(Hefei University of Technology) Shi Wenwu(Southeast University) |
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| Abstract: | The paper proposed a novel navigation and control method for an AGV (automatic guided vehicle) based on the dynamic model. According to this method the information of navigation is taken as the inputs of intelligent controller, and the controller outputs the control parameters for an AGV. The intelligent controller memorizes the dynamic characteristics of the AGV, so the AGV equipped with this controller can efficiently avoid dynamic and static obstacles, and reaches the target safely, reliably and smoothly. The effectiveness and correctness of the control scheme was demonstrated by many simulation results. |
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| Keywords: | Automatic control technology Automatic guided vehicles Dynamics Navigation Control |
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